Frontiers of Mechanical Engineering >
Trajectory planning of mobile robots using indirect solution of optimal control method in generalized point-to-point task
Received date: 05 Nov 2011
Accepted date: 10 Dec 2011
Published date: 05 Mar 2012
Copyright
This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by considering nonlinear dynamic model and nonholonomic constraints of the system. The nonholonomic constraints of the system are introduced by a nonintegrable set of differential equations which represent kinematic restriction on the motion. The Lagrange’s principle is employed to derive the nonlinear equations of the system. Then, the optimal path planning of the mobile robot is formulated as an optimal control problem. To set up the problem, the nonlinear equations of the system are assumed as constraints, and a minimum energy objective function is defined. To solve the problem, an indirect solution of the optimal control method is employed, and conditions of the optimality derived as a set of coupled nonlinear differential equations. The optimality equations are solved numerically, and various simulations are performed for a nonholonomic mobile robot to illustrate effectiveness of the proposed method.
Key words： mobile robot; trajectory planning; nonlinear dynamic; optimal control
M. NAZEMIZADEH , H. N. RAHIMI , K. AMINI KHOIY . Trajectory planning of mobile robots using indirect solution of optimal control method in generalized point-to-point task[J]. Frontiers of Mechanical Engineering, 2012 , 7(1) : 23 -28 . DOI: 10.1007/s11465-012-0304-9
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