Optimal Trajectory Planning for 2-DOF Adaptive Transformable Wheel
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Kijung | - |
dc.contributor.author | Kim, Youngsoo | - |
dc.contributor.author | Kim, Jongwon | - |
dc.contributor.author | Kim, Hwa Soo | - |
dc.contributor.author | Seo, Taewon | - |
dc.date.accessioned | 2021-08-02T10:27:23Z | - |
dc.date.available | 2021-08-02T10:27:23Z | - |
dc.date.created | 2021-05-12 | - |
dc.date.issued | 2020 | - |
dc.identifier.issn | 2169-3536 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/11538 | - |
dc.description.abstract | Steps are frequently encountered while mobile robots move in indoor environments; thus, the ability to overcome a step is essential to indoor mobile robots. In this study, a new adaptive transformable wheel is conceptually proposed to effectively overcome steps of different sizes. The center trajectory of the proposed wheel is optimally designed to minimize its fluctuations while the robot overcomes a step. For this purpose, a kinematic analysis of the proposed wheel is performed to identify the points that its center must pass while the robot overcomes a step. The center trajectory is optimized with an objective function to evaluate the mobile stability of the proposed wheel under kinematic constraints to avoid undesired interferences between the wheel and the step. Extensive simulations with different steps verify that the optimal trajectory ensures stable and effective overcoming of steps. The experiment using the prototype of mobile robot equipped with the proposed wheel verifies the smoothness of resulting trajectory of wheel center. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Optimal Trajectory Planning for 2-DOF Adaptive Transformable Wheel | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Seo, Taewon | - |
dc.identifier.doi | 10.1109/ACCESS.2020.2966767 | - |
dc.identifier.scopusid | 2-s2.0-85079802840 | - |
dc.identifier.wosid | 000524736700009 | - |
dc.identifier.bibliographicCitation | IEEE ACCESS, v.8, pp.14452 - 14459 | - |
dc.relation.isPartOf | IEEE ACCESS | - |
dc.citation.title | IEEE ACCESS | - |
dc.citation.volume | 8 | - |
dc.citation.startPage | 14452 | - |
dc.citation.endPage | 14459 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | Y | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Computer Science | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalResearchArea | Telecommunications | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Information Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Telecommunications | - |
dc.subject.keywordPlus | MOBILE ROBOT | - |
dc.subject.keywordPlus | KINETIC-ANALYSIS | - |
dc.subject.keywordPlus | OPTIMAL-DESIGN | - |
dc.subject.keywordAuthor | Mobile robot | - |
dc.subject.keywordAuthor | step | - |
dc.subject.keywordAuthor | transformable wheel | - |
dc.subject.keywordAuthor | trajectory planning | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.