Minimum-Time Control of Mobile Robots: Universal Modeling and Algorithms - Couverture souple

García, Andrés Gabriel; Agamennoni, Osvaldo

 
9783848412464: Minimum-Time Control of Mobile Robots: Universal Modeling and Algorithms
Couverture souple
ISBN 10 : 3848412462 ISBN 13 : 9783848412464
Editeur : LAP LAMBERT Academic Publishing, 2012

Synopsis

In this book, the problem to find suitable control actions to minimize the total traveling time of kinematic models of mobile robots is considered. This subject is a long open problem since the mixed initial-terminal conditions had posed a very hard obstacle to find a closed-form solution for this problem. This book consider a universal equivalent model of the kinematic models of wheeled mobile robots which up to the authors knowledge has never been reported in the literature. Two important aspects appears using these universal kinematic models: an infinite sequence of switching of the bang-bang controls in a finite interval of time (called in this book ISP) and a dual of the Hamilton-Jacobi-Bellman for discrete systems. Up to the authors knowledge, these two contributions has been never reported in the literature. Moreover, the possibility of non bang-bang control using Fourier series in the case of Reeds-Shepp car is also presented. This book should be useful for graduate engineers, physicists and mathematicians as well as researchers exploring new concepts and new possibilities both for modeling and optimal control of mobile robots.

Les informations fournies dans la section « Synopsis » peuvent faire référence à une autre édition de ce titre.

Présentation de l'éditeur

In this book, the problem to find suitable control actions to minimize the total traveling time of kinematic models of mobile robots is considered. This subject is a long open problem since the mixed initial-terminal conditions had posed a very hard obstacle to find a closed-form solution for this problem. This book consider a universal equivalent model of the kinematic models of wheeled mobile robots which up to the authors knowledge has never been reported in the literature. Two important aspects appears using these universal kinematic models: an infinite sequence of switching of the bang-bang controls in a finite interval of time (called in this book ISP) and a dual of the Hamilton-Jacobi-Bellman for discrete systems. Up to the authors knowledge, these two contributions has been never reported in the literature. Moreover, the possibility of non bang-bang control using Fourier series in the case of Reeds-Shepp car is also presented. This book should be useful for graduate engineers, physicists and mathematicians as well as researchers exploring new concepts and new possibilities both for modeling and optimal control of mobile robots.

Biographie de l'auteur

Dr. Andrés García received an Electronic Engineer diploma and Phd in Control Systems both from Universidad Nacional del Sur in Argentina. His areas of research range from non-linear differential ODE's, non-linear control systems and mobile robots. He is professor at Armada Argentina and Assistant professor at Universidad Nacional del Sur.

Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.

Éditeur
LAP LAMBERT Academic Publishing
Date d'édition
2012
Langue
anglais
ISBN 10 
3848412462
ISBN 13 
9783848412464
Reliure
Broché
Nombre de pages
68
Coordonnées du fabricant
non disponible
Personne responsable
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