The time-optimal trajectory planning is proposed under kinematic and dynamic constraints for a 2-DOF wheeled robot. In order to make full use of the motor’s capacity, we calculate the maximum torque and the minimum t...The time-optimal trajectory planning is proposed under kinematic and dynamic constraints for a 2-DOF wheeled robot. In order to make full use of the motor’s capacity, we calculate the maximum torque and the minimum torque by considering the maximum heat-converted power generated by the DC motor. The shortest path is planned by using the geometric method under kinematic constraints. Under the bound torques, the velocity limits and the maximum acceleration (deceleration) are obtained by combining with the dynamics. We utilize the phase-plane analysis technique to generate the time optimal trajectory based on the shortest path. At last, the computer simulations for our laboratory mobile robot were performed. The simulation results prove the proposed method is simple and effective for practical use.展开更多
Using Girsanov transformation,we derive a new link from stochastic differential equations of Markovian type to nonlinear parabolic equations of Burgers-KPZ type,in such a manner that the obtained BurgersKPZ equation c...Using Girsanov transformation,we derive a new link from stochastic differential equations of Markovian type to nonlinear parabolic equations of Burgers-KPZ type,in such a manner that the obtained BurgersKPZ equation characterizes the path-independence property of the density process of Girsanov transformation for the stochastic differential equation.Our assertion also holds for SDEs on a connected differential manifold.展开更多
文摘The time-optimal trajectory planning is proposed under kinematic and dynamic constraints for a 2-DOF wheeled robot. In order to make full use of the motor’s capacity, we calculate the maximum torque and the minimum torque by considering the maximum heat-converted power generated by the DC motor. The shortest path is planned by using the geometric method under kinematic constraints. Under the bound torques, the velocity limits and the maximum acceleration (deceleration) are obtained by combining with the dynamics. We utilize the phase-plane analysis technique to generate the time optimal trajectory based on the shortest path. At last, the computer simulations for our laboratory mobile robot were performed. The simulation results prove the proposed method is simple and effective for practical use.
基金supported by Laboratory of Mathematics and Complex Systems,National Natural Science Foundation of China(Grant No.11131003)Specialized Research Fund for the Doctoral Program of Higher Educationthe Fundamental Research Funds for the Central Universities
文摘Using Girsanov transformation,we derive a new link from stochastic differential equations of Markovian type to nonlinear parabolic equations of Burgers-KPZ type,in such a manner that the obtained BurgersKPZ equation characterizes the path-independence property of the density process of Girsanov transformation for the stochastic differential equation.Our assertion also holds for SDEs on a connected differential manifold.
