Path planning for a robot with kynematic constrains

Planificación de trayectorias para un robot tipo con restricciones dinámicas

dc.creatorSolaque Guzmán, Leonardo
dc.creatorMuñoz Ceballos, Nelson
dc.creatorNiño Suárez, Paola
dc.date2008-06-01
dc.identifierhttps://revistas.unimilitar.edu.co/index.php/rcin/article/view/1069
dc.identifier10.18359/rcin.1069
dc.descriptionIn this article we propose a method to find the optimal trajectories of a robot with dynamic constrains. The system acts in a free space and in horizontal plane (2D). A dynamic model description for the airship movement on the 2D plane is presented. This model is used in order to make the kinematic model formulation. The optimal control theory is used to find the optimal trajectory for a kind of robot subject to kinematic constraints on its path curvature and its orientation. Two modified models are considerate and with they, better-adapted trajectories to the dynamic constrains are planned. Comparisons and conclusions based over simulations are presented at the end.
dc.descriptionEste documento presenta una aproximación a la planificación de caminos óptimos para un sistema con restricciones dinámicas y desplazándose dentro de un espacio libre de obstáculos. Se considera el modelo dinámico del dirigible y un análisis para el planteamiento de modelos simplificados o comúnmente conocidos como modelos de control. Se propone una planificación de la trayectoria desde el punto de vista de la teoría óptima utilizando un modelo de la dinámica de un robot móvil (que se desplaza a velocidad constante y en avance, es decir con restricciones dinámicas) como punto de partida para la primera aproximación a los caminos óptimos. Para el suavizado de las trayectorias del dirigible se proponen dos modelos con relajación en la dinámica de la variable de control y finalmente se presenta una simulación de la comparación de los diferentes resultados.
dc.formatapplication/pdf
dc.languagespa
dc.publisherUniversidad Militar Nueva Granada
dc.relationhttps://revistas.unimilitar.edu.co/index.php/rcin/article/view/1069/807
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dc.rightsDerechos de autor 2016 Ciencia e Ingeniería Neogranadina
dc.sourceCiencia e Ingenieria Neogranadina; Vol. 18 No. 1 (2008); 75-94
dc.sourceCiencia e Ingeniería Neogranadina; Vol. 18 Núm. 1 (2008); 75-94
dc.sourceCiencia e Ingeniería Neogranadina; v. 18 n. 1 (2008); 75-94
dc.source1909-7735
dc.source0124-8170
dc.subjectmodel
dc.subjecttrajectory
dc.subjectconfiguration
dc.subjectoptimal control
dc.subjectconstrains
dc.subjectairship
dc.subjectpath planning
dc.subjectmobile robot
dc.subjectconfiguration space
dc.subjectsimulation
dc.subjectmodelo
dc.subjecttrayectoria
dc.subjectconfiguración
dc.subjectcontrol óptimo
dc.subjectrestricción
dc.subjectdirigible
dc.subjectplanificación
dc.subjectrobot móvil
dc.subjectespacio de configuración
dc.subjectsimulación
dc.titlePath planning for a robot with kynematic constrains
dc.titlePlanificación de trayectorias para un robot tipo con restricciones dinámicas
dc.typeinfo:eu-repo/semantics/article
dc.typeinfo:eu-repo/semantics/publishedVersion


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