Earticle

초록

영어

This paper presents an implementation of trajectory planning method while considering velocity constraints for a two-wheeled mobile robot (TMR) on Xenomai. A Bezier curve is utilized to make a smooth path. A convolution operator was used to generate a velocity profile for the travel distance of the planned path while also giving consideration of the velocity constraints of the TMR. The trajectory planning are performed on Xenomai with multitasking structure, which is a real-time Linux system developed by open-source projects. Finally, the periodicity and schedulability of real-time tasks and trajectory tracking performance were analyzed. Moreover, the efficiency of real-time operating system was also examined.

목차

Abstract
 1. Introduction
 2. Trajectory Planning Considering the Velocity Constraints
 3. System Architecture
 4. Experimental Results
 5. Real-time Schedulability
 6. Conclusion
 Acknowledgements
 References

키워드

저자

• Gil Jin Yang [ Department of Electrical and Information Engineering Seoul National University of Science and Technology, Seoul, South Korea ]
• Byoung Wook Choi [ Department of Electrical and Information Engineering Seoul National University of Science and Technology, Seoul, South Korea ] Corresponding Author

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605