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摘要
In this paper we present a local motion planning law called trigonometric switch inputs which can steer the chained form system to the final positions, at least locally, around the initial positions. This method steers the system step by step instead of steering all states in one step. The advantages of trigonometric switch inputs law are that the motion trajectories are quite smooth and have less oscillation and lower computational costs, all of which is beneficial for the application of the time scale transformation technique and improvement of motion efficiency of the system. A two-wheeled mobile robot system is steered by this new motion planning law to illustrate the practical application. Finally, simulations with the time scale transformation technique and experiments with the mobile robot verify the feasibility and effectiveness of trigonometric switch inputs law.
- 出版日期2017-3
- 单位宝鸡文理学院
