Near-optimal dynamic trajectory generation and control of an omnidirectional vehicle
نویسندگان
چکیده
منابع مشابه
Near-optimal dynamic trajectory generation and control of an omnidirectional vehicle
This paper describes a computationally inexpensive, yet high performance trajectory generation algorithm for omnidirectional vehicles. It is shown that the associated nonlinear control problem can be made tractable by restricting the set of admissible control functions. The resulting problem is linear with coupled control efforts and a near-optimal control strategy is shown to be piecewise cons...
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ژورنال
عنوان ژورنال: Robotics and Autonomous Systems
سال: 2004
ISSN: 0921-8890
DOI: 10.1016/j.robot.2003.10.003