TY - JOUR
T1 - Control design for obstacle avoidance problem via a virtual space
AU - Kobayashi, Tomoaki
AU - Ueda, Atsushi
AU - Imae, Joe
AU - Zhai, Guisheng
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
KW - Descriptor system
KW - Motion control
KW - Moving robot
KW - Obstacle avoidance
KW - Optimal control
KW - State constraint
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U2 - 10.1299/kikaic.77.1302
DO - 10.1299/kikaic.77.1302
M3 - Article
AN - SCOPUS:84863066755
VL - 77
SP - 1302
EP - 1309
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 776
ER -