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Optimal control at energy performance index of the mobile robots following dynamically created trajectories

Abstract

In practice, the problem of motion control of the wheeled mobile robots is often neglected. Wheeled mobile robots are strongly nonlinear systems and restricted by non-holonomic constraints. Motion control of such systems is not trivial task and usage of non-optimal control signals can lead to deterioration of the overall robot system’s performance. In case of autonomous application of the mobile robots all parts of its control system should work perfectly. The paper presents the theory and application of the optimal control method at the energy performance index towards motion control of the two-wheeled mobile robot during the realisation of complex, dynamically created trajectories. With the use of the proposed control method the two-wheeled mobile robot can reali se effectively the desired trajectory, which is generated ad-hoc by the navigation system of the robot. Thus the proposed method can be used for motion control of autonomous or semi-autonomous wheeled mobile robots. The presented results of both computer simulations and experiments indicate that the proposed method works effectively from the point of view of the motion control of two-wheeled mobile robot. Movement of the mobile robot appeared reliable and predictable during all the tests.

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Category:
Articles
Type:
artykuł w czasopiśmie wyróżnionym w JCR
Published in:
MECHATRONICS no. 37, pages 79 - 88,
ISSN: 0957-4158
Language:
English
Publication year:
2016
Bibliographic description:
Kaliński K., Mazur M.: Optimal control at energy performance index of the mobile robots following dynamically created trajectories// MECHATRONICS. -Vol. 37, (2016), s.79-88
DOI:
Digital Object Identifier (open in new tab) 10.1016/j.mechatronics.2016.01.006
Verified by:
Gdańsk University of Technology

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