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On Optimal Control of Mobile Robots
Author(s) -
Kiriazov Petko
Publication year - 2001
Publication title -
zamm ‐ journal of applied mathematics and mechanics / zeitschrift für angewandte mathematik und mechanik
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.449
H-Index - 51
eISSN - 1521-4001
pISSN - 0044-2267
DOI - 10.1002/zamm.200108115113
Subject(s) - parameterized complexity , mobile robot , pontryagin's minimum principle , optimal control , shooting method , robot , point (geometry) , energy (signal processing) , control theory (sociology) , mathematical optimization , boundary (topology) , control (management) , computer science , maximum principle , value (mathematics) , optimization problem , boundary value problem , mathematics , algorithm , artificial intelligence , mathematical analysis , statistics , geometry , machine learning
There are continuously increasing demands to mobile robots (MR) for faster operation, higher accuracy, and lower energy cost. A unified direct‐search optimization approach is proposed which employs parameterized control laws consistent with the Pontryagin Maximum principle. We define mostly appropriate input‐output pairs and transform the given two‐point boundary‐value problem into a system of shooting equations. The control parameters which are not in the input‐output pairs are used for time/energy optimization. Existence of solutions is guaranteed under a weak and reasonable condition. The approach is applied on a dynamic model of a MR having two independently driven wheels.