On optimal control of mobile robots

DOI10.1002/1521-4001(200110)81:10%3C675::AID-ZAMM675%3E3.0.CO;2-RMaRDI QIDQ2746124zbMATH OpenOpenAlexFDO

Authors Petko Kiriazov

Publication date 13 May 2003

Published in ZAMM. Zeitschrift für Angewandte Mathematik und Mechanik (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/1521-4001(200110)81:10%3C675::aid-zamm675%3E3.0.co;2-r

zbMATH Keywords

direct-search optimizationenergy optimizationexistence of solutionsinput-output pairsmobil robotparameterized control lawsPontryagin maximum principleshooting equationstime optimizationtwo-point boundary-value problem

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05)

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Cites work

• Gyroscopically Stabilized Systems: A Class Of Quadratic Eigenvalue Problems With Real Spectrum
• scientific article; zbMATH DE number 3756646 (Why is no real title available?)
• Local Stability of Gyroscopic Systems Near Vanishing Eigenvalues
• Matrices and indefinite scalar products
• On the perturbation of analytic matrix functions
• On the Stability of Rotating Systems
• Strongly stable gyroscopic systems

Cited in

(17)

• Optimal solutions to a class of power management problems in mobile robots
• Synthesis of an optimal control law for path tracking in mobile robots
• The design of time-optimal control for two-wheel driven carts catching a target trajectory
• Event-driven optimal control for a robotic exploration, pick-up and delivery problem
• A discrete method for time-optimal motion planning of a class of mobile robots
• Comparison of direct and indirect approaches for numerical solution of the optimal control problem by evolutionary methods
• Regular approximations of the fastest motion of mobile robot under bounded state variables
• Time optimal control for a mobile robot with a communication objective
• Energy-time optimal control of wheeled mobile robots
• Control of a mobile robot with a trailer based on nilpotent approximation
• scientific article; zbMATH DE number 5965327 (Why is no real title available?)
• A nonlinear programming method for time-optimal control of an omni-directional mobile robot
• Autonomous robot navigation using optimal control of probabilistic regular languages
• scientific article; zbMATH DE number 1215261 (Why is no real title available?)
• scientific article; zbMATH DE number 1487508 (Why is no real title available?)
• Meta-heuristic algorithms for the control tuning of omnidirectional mobile robots
• Optimizing Coefficients of a Controller in the Point Stabilization Problem for a Robot-Wheel

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