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ЖУРНАЛЫ // Regular and Chaotic Dynamics // Архив

Regul. Chaotic Dyn., 2019, том 24, выпуск 3, страницы 312–328 (Mi rcd480)

Эта публикация цитируется в 17 статьях

Euler Elasticas for Optimal Control of the Motion of Mobile Wheeled Robots: the Problem of Experimental Realization

Andrey A. Ardentova, Yury L. Karavaevbc, Kirill S. Yefremovc

a Ailamazyan Program Systems Institute of RAS, Pereslavl-Zalessky, Yaroslavl Region, 152020 Russia
b Center for Technologies in Robotics and Mechatronics Components, Innopolis University, ul. Universitetskaya 1, Innopolis, 420500 Russia
c Izhevsk State Technical University, ul. Studencheskaya 7, Izhevsk, 426069 Russia

Аннотация: This paper is concerned with the problem of optimal path planning for a mobile wheeled robot. Euler elasticas, which ensure minimization of control actions, are considered as optimal trajectories. An algorithm for constructing controls that realizes the motion along the trajectory in the form of an Euler elastica is presented. Problems and special features of the application of this algorithm in practice are discussed. In particular, analysis is made of speedup and deceleration along the elastica, and of the influence of the errors made in manufacturing the mobile robot on the precision with which the prescribed trajectory is followed. Special attention is also given to the problem of forming optimal trajectories of motion along Euler elasticas to a preset point at different angles of orientation. Results of experimental investigations are presented.

Ключевые слова: mobile wheeled robot, Euler’s elastica, optimal control, experimental investigations.

MSC: 49K30, 58E25, 70Q05

Поступила в редакцию: 17.01.2019
Принята в печать: 07.03.2019

Язык публикации: английский

DOI: 10.1134/S1560354719030055



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