Title :
Optimal path planning for a mobile robot
Author_Institution :
Dept. of Electr. Eng., American Univ. of Beirut, Lebanon
Abstract :
A discussion is presented of the application of optimal control theory together with computer intelligence to search for the optimal path of a unidirectional mobile robot with two motorized wheels. The problem is to find the shortest path of restricted curvature between two work stations such that the initial and final conditions on the orientation of the vehicle are satisfied. The resultant navigation algorithm proves to be an excellent planner for the kind of mobile robots considered
Keywords :
computerised navigation; mobile robots; optimal control; planning (artificial intelligence); computer intelligence; mobile robot; motorized wheels; navigation algorithm; optimal control theory; optimal path planning; shortest path of restricted curvature; vehicle orientation; Application software; Boundary conditions; Competitive intelligence; Intelligent robots; Mobile robots; Navigation; Optimal control; Path planning; Vehicles; Wheels;
Conference_Titel :
Circuits and Systems, 1990., Proceedings of the 33rd Midwest Symposium on
Conference_Location :
Calgary, Alta.
Print_ISBN :
0-7803-0081-5
DOI :
10.1109/MWSCAS.1990.140806
