|
This article is cited in 3 scientific papers (total in 3 papers)
Optimization Methods and Control Theory
Controlling a mobile robot along Euler’s elasticae
A. A. Ardentov, A. V. Smirnov Ailamazyan Program Systems Institute of Russian Academy of Sciences
Abstract:
In this paper, we consider the problem of controlling a wheeled robot on a flat surface without obstacles. Arduino platform is a basis of the robot. We investigate the class of optimal controls that first appeared in the classical Euler's elastic problem. Finally, we present several examples of movement of the robot along Euler's elasticae and study the problem of trajectory avoidance from elasticae and possible ways to solve it.
Key words and phrases:
mobile robot, kinematics, Euler's elastica, Arduino.
Received: 11.12.2017 Accepted: 25.12.2017
Citation:
A. A. Ardentov, A. V. Smirnov, “Controlling a mobile robot along Euler’s elasticae”, Program Systems: Theory and Applications, 8:4 (2017), 163–178
Linking options:
https://www.mathnet.ru/eng/ps283 https://www.mathnet.ru/eng/ps/v8/i4/p163
|
Statistics & downloads: |
Abstract page: | 268 | Full-text PDF : | 195 | References: | 25 |
|