Mobile robot kinematic, dynamic, and mobility
Amar Khoukhi, Yskandar Hamam · 1991
Presents an optimal trajectography planning for a mobile robot in a crowded environment. A dynamic model based on the Euler-Lagrange equations is developed and a mobility estimation function of the robot is considered. This dynamic estimation of the robot mobility takes into account the velocity and the orientation of the robot. Finally, the optimal trajectory search is formulated as a nonlinear programming problem under nonlinear equality and inequality constraints. The discrete augmented lagrangian is used to obtain the optimal trajectography. A comparative study with algorithms used in the literature is considered. The simulation experiments were performed on a PC-AT and some results are given and compared to the kinematic schemes. It is shown that the performance of the dynamic optimal control is highly superior to the geometric or kinematic control schemes.>