Full Content is available to subscribers

Subscribe/Learn More  >

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
  • 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


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



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In