Optimal Control of a Two Wheeled Mobile Robot

Abstract

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.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1994
Accession Number
ADA286130

Entities

People

  • Bryan R. Emond

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Boundaries
  • Boundary Value Problems
  • Compilers
  • Computational Science
  • Computer Programs
  • Computers
  • Control Theory
  • Difference Equations
  • Differential Equations
  • Equations
  • Equations Of Motion
  • Linear Differential Equations
  • Motion Planning
  • Robots
  • Three Dimensional
  • Trajectories
  • Two Dimensional

Fields of Study

  • Mathematics

Readers

  • Calculus or Mathematical Analysis
  • Control Systems Engineering.
  • Operations Research

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Spacecraft Maneuvers