The aim of this paper has been to integrate the kinematics and dynamic spaces in only one mathematical model, suitable to employ the Cell-Mapping technique in order to obtain the minimum-time solution to the optimal motion planning of a Wheeled Mobile Vehicle. Through transformation of the cell-to-cell transitions the time spent in the knowledge of the vehicle dynamics and environment has been notably reduced. Four state variables have been considered: the velocity of the vehicle, X and Y Cartesian coordinates and the orientation of the vehicle. Also, two different control actions can act on the vehicle: the traction torque used for speeding up/braking the vehicle and the steering angle. The results show the applicability of the proposed algorithm in environments with presence of obstacles.


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    Title :

    Optimal control for Wheeled Mobile Vehicles based on Cell Mapping techniques


    Contributors:
    Gomez, M. (author) / Martinez-Marie, T. (author) / Sanchez, S. (author) / Meziat, D. (author)


    Publication date :

    2008-06-01


    Size :

    1333576 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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