Optimal path for mobile robot: Representation, symmetry and algorithm
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A simple structural representation of optimal path for mobile robots with two independently driven wheels is presented. An optimal path realization algorithm is derived according to a criterion based on length-of-path and scan-angle of robot. Meanwhile the symmetry characteristics of the optimal path are analyzed in detail. Also a robot trajectory tracking control algorithm is obtained by the same optimization process. The algorithms are very useful to reduce the complexity largely both in design and computation.