제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Real-Time Optimization for Mobile Robot Based on Algorithmic Control

  • Kobayashi, Tomoaki (Department of Mechanical Engineering, Osaka Prefecture University) ;
  • Maenishi, Junichi (Department of Mechanical Engineering, Osaka Prefecture University) ;
  • Imae, Joe (Department of Mechanical Engineering, Osaka Prefecture University) ;
  • Zhai, Guisheng (Department of Mechanical Engineering, Osaka Prefecture University)
  • Published : 2005.06.02
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Abstract

In this paper, a real-time optimization method for nonlinear dynamical systems is proposed. The proposed method is based on the algorithms of numerical solutions for optimal control problems. We deal with a real-time collision-free motion control of a nonholonomic mobile robot, which has input restrictions of actuators. The effectiveness of the algorithmic method is demonstrated through numerical and experimental results. The mobile robot which we have developed is able to avoid moving obstacles skillfully. Therefore the proposed controller works well in real time.

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