Minimum-Time Control of Mobile Robots: Universal Modeling and Algorithms - Softcover

García, Andrés Gabriel; Agamennoni, Osvaldo

Softcover

ISBN 10: 3848412462 ISBN 13: 9783848412464

Verlag: LAP LAMBERT Academic Publishing, 2012

Inhaltsangabe

In this book, the problem to find suitable control actions to minimize the total traveling time of kinematic models of mobile robots is considered. This subject is a long open problem since the mixed initial-terminal conditions had posed a very hard obstacle to find a closed-form solution for this problem. This book consider a universal equivalent model of the kinematic models of wheeled mobile robots which up to the authors knowledge has never been reported in the literature. Two important aspects appears using these universal kinematic models: an infinite sequence of switching of the bang-bang controls in a finite interval of time (called in this book ISP) and a dual of the Hamilton-Jacobi-Bellman for discrete systems. Up to the authors knowledge, these two contributions has been never reported in the literature. Moreover, the possibility of non bang-bang control using Fourier series in the case of Reeds-Shepp car is also presented. This book should be useful for graduate engineers, physicists and mathematicians as well as researchers exploring new concepts and new possibilities both for modeling and optimal control of mobile robots.

Über diesen Titel

Über die Autorin bzw. den Autor

Dr. Andrés García received an Electronic Engineer diploma and Phd in Control Systems both from Universidad Nacional del Sur in Argentina. His areas of research range from non-linear differential ODE's, non-linear control systems and mobile robots. He is professor at Armada Argentina and Assistant professor at Universidad Nacional del Sur.

Details zur Ausgabe

• Verlag: LAP LAMBERT Academic Publishing
• Erscheinungsdatum: 2012
• Sprache: Englisch
• ISBN 10: 3848412462
• ISBN 13: 9783848412464
• Einband: Taschenbuch
• Anzahl der Seiten: 68
• Kontakt zum Hersteller: Nicht verfügbar
• Verantwortliche Person: KreGa Onlinehandel GmbH; 4950000000000; info@krega-onlinehandel.de; ; Birkenweg 31; Brakel; 33034; Deutschland