QUT ePrints

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.

View at publisher

Abstract

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.

Impact and interest:

Citation countsare sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

Full-text downloads:

141 since deposited on 23 Jun 2005
18 in the past twelve months

Full-text downloadsdisplays the total number of times this work’s files (e.g., a PDF) have been downloaded from QUT ePrints as well as the number of downloads in the previous 365 days. The count includes downloads for all files if a work has more than one.

ID Code: 488
Item Type: Conference Paper
Keywords: robot control, quadratic programming, robot soccer
DOI: 10.1007/b104336
ISBN: 9783540240594
ISSN: 1611-3349
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 23:05

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page