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.

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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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ID Code: 488
Item Type: Conference Paper
Refereed: Yes
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 00:00
Last Modified: 29 Feb 2012 13:05

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