Control of mobile robots in the transition from state to state subject to a forward movement scheme

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Abstract

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.
Original languageEnglish
Title of host publication2021 9th International Conference on Systems and Control (ICSC)
EditorsDriss Mehdi, Mondher Farza, Mohammed M'Saad, Abdelouahab Aitouche
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages566-571
Number of pages6
ISBN (Electronic)9781665407823
DOIs
StatePublished - 2021
Event9th International Conference on Systems and Control, ICSC 2021 - Caen, France
Duration: 24 Nov 202126 Nov 2021

Publication series

Name2021 9th International Conference on Systems and Control, ICSC 2021

Conference

Conference9th International Conference on Systems and Control, ICSC 2021
Country/TerritoryFrance
CityCaen
Period24/11/2126/11/21

Keywords

  • Wheeled mobile robot
  • forward velocity
  • kinematic dynamic equations
  • point-to-point control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization

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