Control design for obstacle avoidance problem via a virtual space

Tomoaki Kobayashi, Atsushi Ueda, Joe Imae, Guisheng Zhai

研究成果: Article査読

抄録

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.

本文言語English
ページ(範囲)1302-1309
ページ数8
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
77
776
DOI
出版ステータスPublished - 2011
外部発表はい

ASJC Scopus subject areas

  • 材料力学
  • 機械工学
  • 産業および生産工学

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