Optimal control of skid steer wheeled mobile robots When crossing curved paths by analytical method
محل انتشار: دومین کنفرانس مکانیک، برق و علوم مهندسی
سال انتشار: 1400
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 421
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شناسه ملی سند علمی:
MEECONF02_041
تاریخ نمایه سازی: 20 شهریور 1400
چکیده مقاله:
This article presents optimal control of skid steer wheeled mobile robots. Despite extensive studies on control of mobile robots motion in past researches, the optimal control of mobile robots has been paid less attention by researchers. Considering the high-energy consumption of skid steer wheeled mobile robots that results from side-slip of wheels in rotational maneuvers, designing optimum control schemes with the aim of optimizing the energy usage seems mandatory. Therefore, in this research by creating a target function based on system model and with the help of Hamilton's principle, the optimal velocity profile of robot motion is calculated analytically in order to optimize the energy consumption. Simulation results, supported bycomparison with the results of an optimal PD controller, show the efficacy of the proposed method and significant saving in energy usage of mobile robots
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نویسندگان
Maisam parhikhteh
Department of Mechanical Engineering, Buali Sina University, Hamedan, Iran
Omid Mohammadpour
Department of Mechanical Engineering Payam Noor University of karaj
Mehdi karimi
Department of Mechanical Engineering, Buali Sina University, Hamedan, Iran