Optimal steering of a mobile robot

Gerald Cook

doi:10.1117/12.729308

2 May 2007 Optimal steering of a mobile robot

Gerald Cook

Proceedings Volume 6561, Unmanned Systems Technology IX; 656127 (2007) https://doi.org/10.1117/12.729308
Event: Defense and Security Symposium, 2007, Orlando, Florida, United States

Abstract

An interesting problem in the control of mobile robots is the steering. In this paper a mobile robot with front-wheel steering is treated. A third-order kinematic model is developed. The problem of optimally steering the robot from an initial position and heading to a final position and heading is addressed. The performance measure is taken to be elapsed time. Assuming a fixed speed, this corresponds to a path of minimum distance. It is found that the trajectory consists of segments of maximum-curvature turns and segments of straight lines. The straight-line segments are singular arcs. The problem is shown to simplify when final heading is free. Four examples are solved.

Citation Download Citation

Gerald Cook "Optimal steering of a mobile robot", Proc. SPIE 6561, Unmanned Systems Technology IX, 656127 (2 May 2007); https://doi.org/10.1117/12.729308

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