In this paper, we deal with an obstacle avoidance control problem for a mobile robot. Recently, obstacle avoidana problem has become one of the important issues. Usually, obstacle avoidance problem is dealt as a constrained contro problem. Optimal control technique is used for formulating the problem in our approach. Basically, circular obstacli is assumed in this paper. Firstly, we introduce a virtual space and the obstacle avoidance problem is formulated intt an unconstrained optimal control problem. In the virtual space, the obstacle avoidance problem is represented as ai unconstrained problem. However, note that a descriptor expression comes out in the virtual space. Therefore, we proposi a technique to obtain a solution for the descriptor form. Finally, the effectiveness of our approach is shown through somi numerical simulations.
|ジャーナル||Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|出版ステータス||Published - 2011|
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