A Time and Energy Optimal Controller for Mobile Robots
Ancenay, Sebastien & Maire, Frederic D. (2005) A Time and Energy Optimal Controller for Mobile Robots. In AI'2004 : the 17th Australian Computer Society (ACS) Australian Joint Conference on Artificial Intelligence, 6-10 December 2004, Cairns, Queensland.
We present a time and energy optimal controller for a two-wheeled differentially driven robot. We call a mission the task of bringing the robot from an initial state to a desired final state (a state is the aggregate vector of the position and velocity vectors). The proposed controller is time optimal in the sense that it can determine the minimum amount of time required to perform a mission. The controller is energy optimal in the sense that given a time constraint of n seconds, the controller can determine what is the most energy efficient sequence of accelerations to complete the mission in n seconds.
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|Item Type:||Conference Paper|
|Keywords:||robot control, quadratic programming, robot soccer|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100) > Adaptive Agents and Intelligent Robotics (080101)|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Science and Technology|
|Copyright Owner:||Copyright 2005 Springer|
|Copyright Statement:||This is the author-version of the work. Conference proceedings published, by Springer Verlag, will be available via SpringerLink: http://www.springer.de/comp/lncs/ Lecture Notes in Computer Science|
|Deposited On:||23 Jun 2005|
|Last Modified:||29 Feb 2012 13:05|
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