Title :
Optimal control for Wheeled Mobile Vehicles based on Cell Mapping techniques
Author :
GÓmez, M. ; Martinez-Marie, T. ; SÁnchez, S. ; Meziat, D.
Author_Institution :
Dept. de Autom., Univ. de Alcala, Alcala de Henares
Abstract :
The aim of this paper has been to integrate the kinematics and dynamic spaces in only one mathematical model, suitable to employ the cell-mapping technique in order to obtain the minimum-time solution to the optimal motion planning of a wheeled mobile vehicle. Through transformation of the cell-to-cell transitions the time spent in the knowledge of the vehicle dynamics and environment has been notably reduced. Four state variables have been considered: the velocity of the vehicle, X and Y Cartesian coordinates and the orientation of the vehicle. Also, two different control actions can act on the vehicle: the traction torque used for speeding up/braking the vehicle and the steering angle. The results show the applicability of the proposed algorithm in environments with presence of obstacles.
Keywords :
mobile robots; optimal control; path planning; robot dynamics; robot kinematics; torque control; cell mapping technique; cell-to-cell transition; dynamic spaces; kinematics spaces; optimal control; optimal motion planning; steering angle; traction torque; wheeled mobile vehicle; Dynamic programming; Intelligent vehicles; Kinematics; Optimal control; Path planning; Remotely operated vehicles; Space technology; Space vehicles; Vehicle dynamics; Wheels; Cell-Mapping; Dynamic Programming; Optimal Control; Q-Learning; Vehicle control;
Conference_Titel :
Intelligent Vehicles Symposium, 2008 IEEE
Conference_Location :
Eindhoven
Print_ISBN :
978-1-4244-2568-6
Electronic_ISBN :
1931-0587
DOI :
10.1109/IVS.2008.4621270