Minimum-Time Energy-Optimal Path Following Control for a Wheeled Mobile Robot subject to Velocity Constraints using Linear Programming

This paper focuses on developing a path planning algorithm for a wheeled mobile robot with actuator constraints. The proposed motion planning approach is divided into two stages: path planning, followed by path following. In the path planning stage, the problem is formulated in a path coordinate fra...

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Bibliographic Details
Published inControl Technology and Applications (Online) pp. 40 - 45
Main Authors Kim, Youngjin, Singh, Tarunraj
Format Conference Proceeding
LanguageEnglish
Published IEEE 16.08.2023
Subjects
Actuators
Costs
Jacobi elliptic functions
Linear programming
Linear Programming (LP)
Optimal control
Path planning
Programming
Robot kinematics
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Summary:This paper focuses on developing a path planning algorithm for a wheeled mobile robot with actuator constraints. The proposed motion planning approach is divided into two stages: path planning, followed by path following. In the path planning stage, the problem is formulated in a path coordinate frame and solved using an optimal control framework. The Bernstein basis function weighted benchmark minimum energy cost function is used to achieve the rest-to-rest motion. In the path-following stage, the optimal controls from the first stage are discretized and posed as a Linear programming problem to determine the time scaling to satisfy the actuator limits. Control in the path frame is transformed into time domain while satisfying the velocity constraints. The Pioneer3-DX test platform is used to validate the control method experimentally. Multiple trials are conducted to statistically validate the proposed approach.
ISSN:2768-0770
DOI:10.1109/CCTA54093.2023.10252790