File:Optimal control of a two wheeled mobile robot (IA optimalcontrolof1094530933).pdf
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Summary[edit]
Optimal control of a two wheeled mobile robot
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| Author |
Emond, Bryan R. |
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| Title |
Optimal control of a two wheeled mobile robot |
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| Publisher |
Monterey, California. Naval Postgraduate School |
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| Description |
Feedback control of a two wheeled mobile robot from one point in its configuration space to another presents a challenging problem. The mobile robot belongs to a class of systems with non-integrable motion constraints for which smooth feedback control laws cannot be designed. Recent work has been aimed at developing time-varying feedback control laws and piecewise smooth feedback: control laws. These control techniques are, however, not optimal in any sense. In this research, we look into the optimal control of a mobile robot using partial feedback. A solution is obtained by application of Pontryagin's Minimization Principle and solving the associated two point boundary value problem using a numerical relaxation technique. The resulting robot trajectories exhibit optimal behavior for all non-trivial cases. Subjects: Optimal, Control, Mobile Robot, Non-Holonomic, Pontryagin, Lyapunov, Brockett |
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| Language | English | |
| Publication date | September 1994 | |
| Current location |
IA Collections: navalpostgraduateschoollibrary; fedlink |
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| Accession number |
optimalcontrolof1094530933 |
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| Source | ||
| Permission (Reusing this file) |
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, may not be copyrighted. | |
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This work is in the public domain in the United States because it is a work prepared by an officer or employee of the United States Government as part of that person’s official duties under the terms of Title 17, Chapter 1, Section 105 of the US Code.
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| This file has been identified as being free of known restrictions under copyright law, including all related and neighboring rights. | ||
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| current | 14:17, 23 July 2020 |  | 1,275 × 1,650, 173 pages (4.13 MB) | Fæ (talk | contribs) | FEDLINK - United States Federal Collection optimalcontrolof1094530933 (User talk:Fæ/IA books#Fork8) (batch 1993-2020 #23993) |
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