Control of a Mobile Wheeled Robot Along Optimal Trajectories

Abstract

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.