首页|期刊导航|高技术通讯（英文版）|Optimal trajectory planning based on Hamiltonian function of a spherical mobile robot
高技术通讯（英文版）2008，Vol.14Issue(3)：289-293,5.
Optimal trajectory planning based on Hamiltonian function of a spherical mobile robot
Optimal trajectory planning based on Hamiltonian function of a spherical mobile robot
摘要
Abstract
Designed for planetary exploration, a spherical mobile robot BHQ-1 was briefly introduced.The motion model of BHQ-1 was established and quasi-velocities were introduced to simplify some dynamic quantities.Based on the model, the time- and energy-based optimal trajectory of BHQ-1 was planned with Hamiltonian function.The effects of three key coefficients on the shape and direction of the planned trajectory were discussed by simulations.Experimental result of the robot ability in avoiding an obstacle was presented to validate the trajectory planning method.关键词
spherical mobile robot/trajectory planning/Hamiltonian functionKey words
spherical mobile robot/trajectory planning/Hamiltonian function分类
信息技术与安全科学引用本文复制引用
Chen Ming ,Zhan Qiang,Liu Zengbo,Cai Yao..Optimal trajectory planning based on Hamiltonian function of a spherical mobile robot[J].高技术通讯（英文版）,2008,14(3):289-293,5.基金项目
Supported by the National Natural Science Foundation of China (No.50705003) and the National High Technology Research and Development Programme of China (No.2007AAO4Z252). （No.50705003）
