TY - GEN
T1 - Control of mobile robots in the transition from state to state subject to a forward movement scheme
AU - Ailon, Amit
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2022/1/7
Y1 - 2022/1/7
N2 - The paper proposes a control algorithm for a differentially drive Wheeled Mobile Robot (WMR) whose model incorporates kinematic and dynamic equations of motion for driving the vehicle from an initial state to a desired target in a given work space. In the suggested control algorithm we apply particular structural properties of the system. The proposed control algorithms are based on the use of polynomial functions. However, the current approach can be extended and other set of linearly independent functions can be applied. By using tools from the dynamic programming framework one may contribute to the reduction in the energy consumption required to the accomplishment of the control objective. The approach is implemented successfully in point-to-point control for WMRs subject to a forward velocity restriction.
AB - The paper proposes a control algorithm for a differentially drive Wheeled Mobile Robot (WMR) whose model incorporates kinematic and dynamic equations of motion for driving the vehicle from an initial state to a desired target in a given work space. In the suggested control algorithm we apply particular structural properties of the system. The proposed control algorithms are based on the use of polynomial functions. However, the current approach can be extended and other set of linearly independent functions can be applied. By using tools from the dynamic programming framework one may contribute to the reduction in the energy consumption required to the accomplishment of the control objective. The approach is implemented successfully in point-to-point control for WMRs subject to a forward velocity restriction.
KW - Wheeled mobile robot
KW - forward velocity
KW - kinematic dynamic equations
KW - point-to-point control
UR - http://www.scopus.com/inward/record.url?scp=85124935970&partnerID=8YFLogxK
U2 - 10.1109/ICSC50472.2021.9666492
DO - 10.1109/ICSC50472.2021.9666492
M3 - Conference contribution
T3 - 2021 9th International Conference on Systems and Control, ICSC 2021
SP - 566
EP - 571
BT - 2021 9th International Conference on Systems and Control (ICSC)
A2 - Mehdi, Driss
A2 - Farza, Mondher
A2 - M'Saad, Mohammed
A2 - Aitouche, Abdelouahab
PB - Institute of Electrical and Electronics Engineers
T2 - 9th International Conference on Systems and Control, ICSC 2021
Y2 - 24 November 2021 through 26 November 2021
ER -
