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Optimal trajectory planning for mobile robots using Jacobian...
- Source :
-
International Journal of Robotics Research . Dec97, Vol. 16 Issue 6, p826. 14p. 1 Graph. - Publication Year :
- 1997
-
Abstract
- Introduces an approach for planning minimum-control optimal trajectories for a two-wheeled mobile robot in the absence of obstacles. Formulation of the trajectory planning in minimum-control, fixed-time and optimal control problems with no terminal cost; Presentation of some of the simulation results of the relaxation method; Solving of the two-point boundary value problem; Discussion of the procedure for constants of motion.
- Subjects :
- *MOBILE robots
*ROBOTS
*COMPUTER simulation
Subjects
Details
- Language :
- English
- ISSN :
- 02783649
- Volume :
- 16
- Issue :
- 6
- Database :
- Academic Search Index
- Journal :
- International Journal of Robotics Research
- Publication Type :
- Academic Journal
- Accession number :
- 1836
- Full Text :
- https://doi.org/10.1177/027836499701600607