Control of a Mobile Wheeled Robot Along Optimal Trajectories

Yury Karavaev1, Andrey Ardentov2, Kirill Efremov1

  • 1Kalashnikov Izhevsk State Technical University
  • 2Program Systems Institute of RAS



Open Invited Track


11:00 - 12:28 | Wed 28 Aug | 102 | WeAT13

Industrial Robotics: Modeling, Control and Applications - I

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In this paper, an algorithm for the optimal control of a mobile wheeled robot is proposed and its experimental estimate is carried out. The proposed control algorithm ensures the motion of a mobile robot along Euler's elastics as a trajectory of motion between two points on a horizontal surface under restrictions on the turning radius of the robot. Within the framework of the kinematic model, the motion with the largest possible velocity is proposed. This ensures a sufficient accuracy of investigation along the trajectory. The influence of the geometric errors of the assembly and manufacture of the mobile robot on its trajectory of motion and on the orientation at the end point is analyzed.

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