Abstract:
This paper is concerned with the problem of optimal path planning for a mobile wheeled robot. Euler elasticas, which ensure minimization of control actions, are considered as optimal trajectories. An algorithm for constructing controls that realizes the motion along the trajectory in the form of an Euler elastica is presented. Problems and special features of the application of this algorithm in practice are discussed. In particular, analysis is made of speedup and deceleration along the elastica, and of the influence of the errors made in manufacturing the mobile robot on the precision with which the prescribed trajectory is followed. Special attention is also given to the problem of forming optimal trajectories of motion along Euler elasticas to a preset point at different angles of orientation. Results of experimental investigations are presented.
Keywords:
mobile wheeled robot, Euler’s elastica, optimal control, experimental investigations.
The work of Yu. L. Karavaev, K. S.Yefremov (Sections 3 and 4) was carried out within the framework of the project of the State Assignment at the Kalashnikov Izhevsk State Technical University No. 1.2405.2017/4.6, and was supported by the RFBR grant 18-38-00454 mol_a, and the work of A.A.Ardentov (Sections 1 and 2) was supported by the Russian Science Foundation, grant 17-11-01387 and was carried out at the Ailamazyan Institute of Software Systems (Russian Academy of Sciences).
Citation:
Andrey A. Ardentov, Yury L. Karavaev, Kirill S. Yefremov, “Euler Elasticas for Optimal Control of the Motion of Mobile Wheeled Robots: the Problem of Experimental Realization”, Regul. Chaotic Dyn., 24:3 (2019), 312–328
\Bibitem{ArdKarEfr19}
\by Andrey A. Ardentov, Yury L. Karavaev, Kirill S. Yefremov
\paper Euler Elasticas for Optimal Control of the Motion of Mobile Wheeled Robots: the Problem of Experimental Realization
\jour Regul. Chaotic Dyn.
\yr 2019
\vol 24
\issue 3
\pages 312--328
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\crossref{https://doi.org/10.1134/S1560354719030055}
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