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Optimal control at energy performance index of the mobile robots following dynamically created trajectories
Abstrakt
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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Informacje szczegółowe
- Kategoria:
- Publikacja w czasopiśmie
- Typ:
- artykuł w czasopiśmie wyróżnionym w JCR
- Opublikowano w:
-
MECHATRONICS
nr 37,
strony 79 - 88,
ISSN: 0957-4158 - Język:
- angielski
- Rok wydania:
- 2016
- Opis bibliograficzny:
- 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:
- Cyfrowy identyfikator dokumentu elektronicznego (otwiera się w nowej karcie) 10.1016/j.mechatronics.2016.01.006
- Weryfikacja:
- Politechnika Gdańska
wyświetlono 176 razy
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