Publication:
Optimal control of a two wheeled mobile robot

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Authors
Emond, Bryan R.
Subjects
Optimal, Control, Mobile Robot, Non-Holonomic, Pontryagin, Lyapunov, Brockett
Advisors
Mukherjee, R.
Date of Issue
1994-09
Date
September, 1994
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
Feedback control of a two wheeled mobile robot from one point in its configuration space to another presents a challenging problem. The mobile robot belongs to a class of systems with non-integrable motion constraints for which smooth feedback control laws cannot be designed. Recent work has been aimed at developing time-varying feedback control laws and piecewise smooth feedback: control laws. These control techniques are, however, not optimal in any sense. In this research, we look into the optimal control of a mobile robot using partial feedback. A solution is obtained by application of Pontryagin's Minimization Principle and solving the associated two point boundary value problem using a numerical relaxation technique. The resulting robot trajectories exhibit optimal behavior for all non-trivial cases.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
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Funder
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Citation
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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