Optimal control at energy performance index of the mobile robots following dynamically created trajectories

Mechatronics ◽  
2016 ◽  
Vol 37 ◽  
pp. 79-88 ◽  
Author(s):  
Krzysztof J. Kaliński ◽  
Michał Mazur
Keyword(s):  
Optimal Control ◽  
Mobile Robots ◽  
Performance Index ◽  
Energy Performance

Trajectory Optimization for Nonholonomic Vehicles on Non-Flat Terrains Using Shooting and Collocation Methods

2013 ◽  
Author(s):  
Dimitris M. Chatzigeorgiou
Keyword(s):  
Optimal Control ◽  
Mobile Robots ◽  
Performance Index ◽  
Trajectory Optimization ◽  
Optimization Problem ◽  
Control Policy ◽  
Collocation Methods ◽  
Governing Equations ◽  
Nonholonomic Mobile Robots ◽  
Nonholonomic Vehicles

In this paper we focus on the trajectory optimization problem for a specific family of robots; nonholonomic mobile robots. We study the particular case where such robots operate on smooth, non-flat terrains, i.e. terrains with large differences in elevation. Initially we present the governing equations of such robots and then study the trajectory optimization problem in order to solve for the optimal control policy. We test two different approaches for this problem, namely a shooting and a collocation method, for evaluating and optimizing a performance index.

scholarly journals Investigation of the mobile platform motion optimal control at energy performance index

PAMM ◽  
2009 ◽  
Vol 9 (1) ◽  
pp. 641-642
Author(s):  
Krzysztof Kalinski ◽  
Michal Mazur
Keyword(s):  
Optimal Control ◽  
Performance Index ◽  
Energy Performance ◽  
Mobile Platform ◽  
Platform Motion

A surveillance of structural oscillations of industrial robots using optimal control at energy performance index

PAMM ◽  
2009 ◽  
Vol 9 (1) ◽  
pp. 297-298
Author(s):  
Krzysztof J. Kaliński ◽  
Krzysztof Jasiński
Keyword(s):  
Optimal Control ◽  
Performance Index ◽  
Energy Performance ◽  
Industrial Robots

Non-linear optimal control for four-wheel omnidirectional mobile robots

2020 ◽  
Vol 6 (4) ◽  
pp. 181-206
Author(s):  
G. Rigatos ◽  
K. Busawon ◽  
M. Abbaszadeh ◽  
P. Wira
Keyword(s):  
Optimal Control ◽  
Mobile Robots ◽  
Linear Optimal Control ◽  
Non Linear

Constrained Optimal Control of Hybrid Systems With a Linear Performance Index

2006 ◽  
Vol 51 (12) ◽  
pp. 1903-1919 ◽  
Author(s):  
Mato Baoti ◽  
Frank J. Christophersen ◽  
Manfred Morari
Keyword(s):  
Optimal Control ◽  
Hybrid Systems ◽  
Performance Index ◽  
Constrained Optimal Control
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