Optimal control for Wheeled Mobile Vehicles based on Cell Mapping techniques
M. Gómez, T. Martinez-Marie, Sebastián Sánchez, Daniel Meziat · 2008
The aim of this paper has been to integrate the kinematics and dynamic spaces in only one mathematical model, suitable to employ the Cell-Mapping technique in order to obtain the minimum-time solution to the optimal motion planning of a Wheeled Mobile Vehicle. Through transformation of the cell-to-cell transitions the time spent in the knowledge of the vehicle dynamics and environment has been notably reduced. Four state variables have been considered: the velocity of the vehicle, X and Y Cartesian coordinates and the orientation of the vehicle. Also, two different control actions can act on the vehicle: the traction torque used for speeding up/braking the vehicle and the steering angle. The results show the applicability of the proposed algorithm in environments with presence of obstacles.