@inproceedings{11dd50a5caca4a52b7fa1fa36ad44641,
title = "Near-optimal trajectory planning of a spherical mobile robot for environment exploration",
abstract = "Spherical mobile robot has the characteristics of compact structure and agile motion and is promising to be used in unmanned environment. Designed for environment exploration, a spherical mobile robot BHQ-2 was briefly introduced. The kinematic equation of BHQ-2 was established and its controllability was proved with controllable Lie algebra. Based on the Ritz approximation theory, the near-optimal trajectory of BHQ-2 was planned with the Gauss-Newton algorithm. Simulation results and experimental results of the spherical mobile robot to plan trajectory with the method were presented.",
keywords = "Nonholonomic, Spherical mobile robot, Trajectory planning",
author = "Qiang Zhan and Yao Cai and Zengbo Liu",
year = "2008",
doi = "10.1109/RAMECH.2008.4681380",
language = "英语",
isbn = "9781424416769",
series = "2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008",
pages = "84--89",
booktitle = "2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008",
note = "2008 IEEE International Conference on Robotics, Automation and Mechatronics, RAM 2008 ; Conference date: 21-09-2008 Through 24-09-2008",
}