A Nonlinear Programming Method for Time-Optimal Control of an Omni-Directional Mobile Robot

DOI10.1177/1077546307086442zbMath1229.70026OpenAlexW2019483263MaRDI QIDQ3111044

Chia-Nan Ko, Yu-Yi Fu, Tsong-Li Lee, Chia-Ju Wu

Publication date: 17 January 2012

Published in: Journal of Vibration and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1177/1077546307086442

zbMATH Keywords

nonlinear programmingtime-optimal controlomni-directional robots

Mathematics Subject Classification ID

Applications of mathematical programming (90C90) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (2)

Finding the quickest straight-line trajectory for a three-wheeled omnidirectional robot under input voltage constraints ⋮ Symplectic Irregular Interpolation Algorithms for Optimal Control Problems

Cites Work

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• A computationally efficient numerical algorithm for the minimum-time control problem of continuous systems
• Shortest paths synthesis for a car-like robot

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