Antonio Simón Mata

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SUMMARY Three single-valued upper boundary functions for velocity, acceleration and deceleration of a wheeled mobile robot (WMR) are defined as closed mathematical forms over its entire spatial path. The limits deal with mechanical, kinematic and dynamic characteristics of the robot and with task and operating matters. These boundary functions can be(More)
SUMMARY The influence of ground irregularities on the behavior of a wheeled mobile robot (WMR) navigating on uneven surfaces is addressed. The paper studies the vibratory movements induced on the body of the WMR, in order to analyze its ability for carrying out on-board tasks, and on the accuracy of the data collected by its external sensorial systems. The(More)
This paper deals with optimal temporal-planning of wheeled mobile robots (WMRs) when navigating on predefined spatial paths. A method is proposed to generate a time-optimal velocity profile for any spatial path in static environments or when mobile obstacles are present. The method generates a feasible trajectory to be tracked by fully exploiting velocity,(More)
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