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Optimal Control Strategies for Wheeled Mobile Robot With Bounded Inputs

[+] Author Affiliations
Ilan Zohar, Amit Ailon

Ben Gurion University of the Negev, Beer Sheva, Israel

Paper No. ESDA2010-24076, pp. 13-20; 8 pages
doi:10.1115/ESDA2010-24076
From:
  • ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis
  • ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 5
  • Istanbul, Turkey, July 12–14, 2010
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4919-4 | eISBN: 978-0-7918-3877-8
  • Copyright © 2010 by ASME

abstract

This paper presents a simple approach for solving optimal control problems in wheeled mobile robots with bounded inputs. The control objective is to minimize a quadratic index of performance subject to differential constraints (the mobile robot equations of motion). The solution to the problem is obtained by utilizing an explicit trajectory parametrization method, which allows us to establish a sub-optimal control strategy by minimizing a multivariable function subject to a set of algebraic constraints. The approach is based on the flatness property, which allows us to represent the flat output by a polynomial. The bounds on the input signals are taken into consideration in the current analysis.

Copyright © 2010 by ASME

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