Energy-Time Optimal Control of Wheeled Mobile Robots
Youngjin Kim,
Tarunraj Singh
Abstract:This paper focuses on the energy-time optimal control of wheeled mobile robots undergoing pointto-point transitions in an obstacles free space. Two interchangeable models are used to arrive at the necessary conditions for optimality. The first formulation exploits the Hamiltonian, while the second formulation considers the first variation of the augmented cost to derive the necessary conditions for optimality. Jacobi elliptic functions are shown to parameterize the closed form solutions for the states, control… Show more
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