Design of an optimal control for an autonomous mobile robot

Authors

  • E.M. Gutiérrez-Arias
  • J.E. Flores-Mena
  • M.M. Morin-Castillo
  • H. Suárez-Ramírez

Keywords:

Mobile robot, optimal control, dynamic programming, Ricatti's differential equation

Abstract

In this article, we present an autonomous mobile robot that is provided with two active wheels and passive one, as well as two control algorithms for the stabilization of the programmed paths. The dynamic programming constitute the bases for the determination of both control laws. The first law of optimal control is obtained by solving the Ricatti matricial differential equation. The second is deduced taking into account the work done by Kalman, which makes possible the reduction of a matricial differential equation into an algebraic matricial equation. The simulation of both algorithms is made when the programmed path is a straight line and this makes possible to observe the optimal control law, which represents the principal goal of this paper, and which presents an improved quality for the stabilization that the control law obtained following the work of Kalman.

Downloads

Published

2011-01-01

How to Cite

[1]
E. Gutiérrez-Arias, J. Flores-Mena, M. Morin-Castillo, and H. Suárez-Ramírez, “Design of an optimal control for an autonomous mobile robot”, Rev. Mex. Fís., vol. 57, no. 1, pp. 75–0, Jan. 2011.

Issue

Vol. 57 No. 1 (2011): Revista Mexicana de Física.

Section

Articles

License

Authors retain copyright and grant the Revista Mexicana de Física right of first publication with the work simultaneously licensed under a CC BY-NC-ND 4.0 that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.