Avtomatika i Telemekhanika
RUS  ENG    JOURNALS   PEOPLE   ORGANISATIONS   CONFERENCES   SEMINARS   VIDEO LIBRARY   PACKAGE AMSBIB  
General information
Latest issue
Archive
Impact factor
Guidelines for authors
Submit a manuscript

Search papers
Search references

RSS
Latest issue
Current issues
Archive issues
What is RSS



Avtomat. i Telemekh.:
Year:
Volume:
Issue:
Page:
Find






Personal entry:
Login:
Password:
Save password
Enter
Forgotten password?
Register


Avtomatika i Telemekhanika, 2021, Issue 1, Pages 95–118
DOI: https://doi.org/10.31857/S0005231021010050
(Mi at15361)
 

This article is cited in 7 scientific papers (total in 7 papers)

Robust, Adaptive and Network Control

Control of a mobile robot with a trailer based on nilpotent approximation

A. A. Ardentov, A. P. Mashtakov

Ailamazyan Program Systems Institute, Russian Academy of Sciences, Pereslavl-Zalessky, Yaroslavl oblast, 152020 Russia
Full-text PDF (419 kB) Citations (7)
References:
Abstract: We consider a kinematic model of a mobile robot with a trailer moving on a homogeneous plane. The robot can move back and forth and make a pivot turn. For this model, we pose the following optimal control problem: transfer the “robot–trailer” system from an arbitrarily given initial configuration into an arbitrarily given final configuration so that the amount of maneuvering is minimal. By a maneuver we mean a functional that defines a trade-off between the linear and angular robot motion. Depending on the trailer–robot coupling, this problem corresponds to a two-parameter family of optimal control problems in the 4-dimensional space with a 2-dimensional control.
We propose a nilpotent approximation method for the approximate solution of the problem. A number of iterative algorithms and programs have been developed that successfully solve the posed problem in the ideal case, namely, with no state constraints. Based on these algorithms, we propose a dedicated reparking algorithm that solves a particular case of the problem where the initial and final robot position coincide and takes into account a state constraint on the trailer’s turning angle occurring in real systems.
Keywords: robot with trailer, kinematic model, optimal control, nilpotent approximation, sub-Riemannian problem.
Funding agency Grant number
Russian Science Foundation 17-11-01387
This work was supported by the Russian Science Foundation, project no. 17-11-01387-P, and performed at the Ailamazyan Program Systems Institute of the Russian Academy of Sciences.
Presented by the member of Editorial Board: L. B. Rapoport

Received: 13.10.2019
Revised: 14.05.2020
Accepted: 09.07.2020
English version:
Automation and Remote Control, 2021, Volume 82, Issue 1, Pages 73–92
DOI: https://doi.org/10.1134/S0005117921010057
Bibliographic databases:
Document Type: Article
Language: Russian
Citation: A. A. Ardentov, A. P. Mashtakov, “Control of a mobile robot with a trailer based on nilpotent approximation”, Avtomat. i Telemekh., 2021, no. 1, 95–118; Autom. Remote Control, 82:1 (2021), 73–92
Citation in format AMSBIB
\Bibitem{ArdMas21}
\by A.~A.~Ardentov, A.~P.~Mashtakov
\paper Control of a mobile robot with a trailer based on nilpotent approximation
\jour Avtomat. i Telemekh.
\yr 2021
\issue 1
\pages 95--118
\mathnet{http://mi.mathnet.ru/at15361}
\crossref{https://doi.org/10.31857/S0005231021010050}
\elib{https://elibrary.ru/item.asp?id=46752228}
\transl
\jour Autom. Remote Control
\yr 2021
\vol 82
\issue 1
\pages 73--92
\crossref{https://doi.org/10.1134/S0005117921010057}
\isi{https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=Publons&SrcAuth=Publons_CEL&DestLinkType=FullRecord&DestApp=WOS_CPL&KeyUT=000621864900005}
\scopus{https://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85101691335}
Linking options:
  • https://www.mathnet.ru/eng/at15361
  • https://www.mathnet.ru/eng/at/y2021/i1/p95
  • This publication is cited in the following 7 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
    Avtomatika i Telemekhanika
     
      Contact us:
     Terms of Use  Registration to the website  Logotypes © Steklov Mathematical Institute RAS, 2024