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dc.contributor.author | Valero Chuliá, Francisco José | es_ES |
dc.contributor.author | Rubio Montoya, Francisco José | es_ES |
dc.contributor.author | Llopis Albert, Carlos | es_ES |
dc.contributor.author | Cuadrado Iglesias, Juan Ignacio | es_ES |
dc.date.accessioned | 2018-06-01T04:23:17Z | |
dc.date.available | 2018-06-01T04:23:17Z | |
dc.date.issued | 2017 | es_ES |
dc.identifier.issn | 1024-123X | es_ES |
dc.identifier.uri | http://hdl.handle.net/10251/103136 | |
dc.description.abstract | [EN] A collision-free trajectory planner for a car-like mobile robot moving in complex environments is introduced and the influence of the coefficient of friction on important working parameters is analyzed. The proposed planner takes into account not only the dynamic capabilities of the robot but also the behaviour of the tire. This planner is based on sequential quadratic programming algorithms and the normalized time method. Different values for the coefficient of friction have been taken following a normal Gaussian distribution to see its influence on the working parameters. The algorithm has been applied to several examples and the results show that computation times are compatible with real-time work, so the authors call them efficient generated trajectories as they avoid collisions. Besides, working parameters such as the minimum trajectory time, the maximum vehicle speed, computational time, and consumed energy have been monitored and some conclusions have been reached. | es_ES |
dc.description.sponsorship | This work was supportedby the Spanish Ministryof Economy and Competitiveness, which has funded the DPI2013-44227R project. | en_EN |
dc.language | Inglés | es_ES |
dc.publisher | Hindawi Limited | es_ES |
dc.relation.ispartof | Mathematical Problems in Engineering | es_ES |
dc.rights | Reconocimiento (by) | es_ES |
dc.subject | Safe trajectory | es_ES |
dc.subject | Car-like mobile robot | es_ES |
dc.subject | Robot dynamics | es_ES |
dc.subject | tire interaction | es_ES |
dc.subject | Minimum-time trajectory | es_ES |
dc.subject | Collision-free | es_ES |
dc.subject | Consumed energy | es_ES |
dc.subject | Energy balance | es_ES |
dc.subject | Working parameters | es_ES |
dc.subject.classification | INGENIERIA MECANICA | es_ES |
dc.title | Influence of the Friction Coefficient on the Trajectory Performance for a Car-Like Robot | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.1155/2017/4562647 | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/MINECO//DPI2013-44227-R/ES/METODOLOGIA DE DISEÑO DE SISTEMAS BIOMECATRONICOS. APLICACION AL DESARROLLO DE UN ROBOT PARALELO HIBRIDO PARA DIAGNOSTICO Y REHABILITACION/ | es_ES |
dc.rights.accessRights | Abierto | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials | es_ES |
dc.description.bibliographicCitation | Valero Chuliá, FJ.; Rubio Montoya, FJ.; Llopis Albert, C.; Cuadrado Iglesias, JI. (2017). Influence of the Friction Coefficient on the Trajectory Performance for a Car-Like Robot. Mathematical Problems in Engineering. (4562647):1-9. https://doi.org/10.1155/2017/4562647 | es_ES |
dc.description.accrualMethod | S | es_ES |
dc.relation.publisherversion | https://doi.org/10.1155/2017/4562647 | es_ES |
dc.description.upvformatpinicio | 1 | es_ES |
dc.description.upvformatpfin | 9 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.issue | 4562647 | es_ES |
dc.relation.pasarela | S\349941 | es_ES |
dc.contributor.funder | Ministerio de Economía, Industria y Competitividad | es_ES |