Set-point stabilization of nonholonomic mobile robot based on optimizing Bezier curve
Guochen Niu, Lili Liu, Hao Chen, Qingji Gao · 2008
The optimization algorithm of nonlinear controller based on cubic Bezier curve is presented. The nonholonomic mobile robot is stabilized to a desired pose, and the real-time planning and motion control is realized at the same time curvaturepsilas changing minimization is introduced to evaluate the Bezier curve. Using the penalty function method the problem of nonlinear constrained optimization is converted into unconstrained. Furthermore, the parameters of controller is optimized based on the improved Powell method. Simulation results is implemented on the VC++6.0 platform, and it was shown that the proposed approach is effective.