Optimal Path Planning of Two-Wheeled Mobile Robots in the Presence of dynamic obstacles
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- 英文论文题名：Optimal Path Planning of Two-Wheeled Mobile Robots in the Presence of dynamic obstacles
- 论文作者：Xinwei Wang ; Haijun Peng ; Dianheng Jiang ; Sheng Zhang
- 英文论文作者：Xinwei Wang ; Haijun Peng ; Dianheng Jiang ; Sheng Zhang ; Department of Engineering Mechanics ; Faculty of Vehicle Engineering and Mechanics ; State Key Laboratory of Structural Analysis for Industrial Equipment ; Dalian University of Technology
- 年：2017
- 作者机构：Department of Engineering Mechanics,Faculty of Vehicle Engineering and Mechanics,State Key Laboratory of Structural Analysis for Industrial Equipment,Dalian University of Technology;
- 英文论文关键词：Two-wheeled mobile robot ; dynamic obstacles ; nonlinear optimal control ; parametric variational principle ; symplectic pseudospectral method
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（B）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
- 语种：英文
- 分类号：TP242
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：606k
- 原文格式：D
- 会议级别：全国
摘要
To solve the problem of optimal path planning of two-wheeled mobile robots(TWMRs) in the presence of dynamic obstacles, a symplectic pseudospectral method for solving nonlinear optimal control problems with inequality constraints is developed. The proposed algorithm transforms the original nonlinear optimal problem into a series of linear-quadratic optimal control problems(LQOCPs) by using quasilinearization techniques. And the LQOCP in each iteration is replaced by a coupling of a system of linear algebraic equations and a linear complementarity problem(LCP) with the help of the parametric variational principle and the second kind of generating function. The proposed method satisfies the first-order necessary conditions for optimal control problems and matrices involved are found to be sparse and symmetric, leading it to be accurate and efficient. Numerical simulations demonstrate that the proposed method is effective for nonlinear optimal control problems with complicated constraints.
To solve the problem of optimal path planning of two-wheeled mobile robots(TWMRs) in the presence of dynamic obstacles, a symplectic pseudospectral method for solving nonlinear optimal control problems with inequality constraints is developed. The proposed algorithm transforms the original nonlinear optimal problem into a series of linear-quadratic optimal control problems(LQOCPs) by using quasilinearization techniques. And the LQOCP in each iteration is replaced by a coupling of a system of linear algebraic equations and a linear complementarity problem(LCP) with the help of the parametric variational principle and the second kind of generating function. The proposed method satisfies the first-order necessary conditions for optimal control problems and matrices involved are found to be sparse and symmetric, leading it to be accurate and efficient. Numerical simulations demonstrate that the proposed method is effective for nonlinear optimal control problems with complicated constraints.
To solve the problem of optimal path planning of two-wheeled mobile robots(TWMRs) in the presence of dynamic obstacles, a symplectic pseudospectral method for solving nonlinear optimal control problems with inequality constraints is developed. The proposed algorithm transforms the original nonlinear optimal problem into a series of linear-quadratic optimal control problems(LQOCPs) by using quasilinearization techniques. And the LQOCP in each iteration is replaced by a coupling of a system of linear algebraic equations and a linear complementarity problem(LCP) with the help of the parametric variational principle and the second kind of generating function. The proposed method satisfies the first-order necessary conditions for optimal control problems and matrices involved are found to be sparse and symmetric, leading it to be accurate and efficient. Numerical simulations demonstrate that the proposed method is effective for nonlinear optimal control problems with complicated constraints.
引文
[1]J.Wu,G.Xu,Z.Yin,Robust Adaptive Control For A Nonholonomic Mobile Robot With Unknown Parameters.Control Theory and Technology,2009,7(2):212-218.
[2]M.Nazemizadeh,H.Rahimi,K.Khoiy,Trajectory Planning Of Mobile Robots Using Indirect Solution Of Optimal Control Method In Generalized Point-To-Point Task.Frontiers of Mechanical Engineering,2012,7(1):23-28.
[3]A.Bryson,Y.Ho,Applied Optimal Control.New York:Hemisphere,1975.
[4]D.Garg,M.Patterson,W.Hager,A.Rao,D.Benson,G.Huntington,A Unified Framework For The Numerical Solution Of Optimal Control Problems Using Pseudospectral Methods.Automatica,2010,46(11):1843-1851.
[5]X.Wang,H.Peng,S.Zhang,B.Chen,W.Zhong.A Symplectic Pseudospectral Method for Nonlinear Optimal Control Problems With Inequality Constraints.ISA Transactions,2017.
[6]G.Lastma,A Shooting Method For Solving Two-Point Boundary-Value Problems Arising From Non-Singular Bang-Bang Optimal Control Problems.International Journal of Control,1978;27(4):513-524.
[7]H.Marzban,S.Hoseini,A Composite Chebyshev Finite Difference Method For Nonlinear Optimal Control Problems.Communications in Nonlinear Science and Numerical Simulations,2013;18(6):1347–1361.
[8]R.Bellman,R.Kalaba,Quasilinearization and nonlinear boundary value problems.New York:Elsevier,1965.
[9]L.Trefethen,Spectral Methods in MATLAB.Philadelphia:SIAM;2000.
[2]M.Nazemizadeh,H.Rahimi,K.Khoiy,Trajectory Planning Of Mobile Robots Using Indirect Solution Of Optimal Control Method In Generalized Point-To-Point Task.Frontiers of Mechanical Engineering,2012,7(1):23-28.
[3]A.Bryson,Y.Ho,Applied Optimal Control.New York:Hemisphere,1975.
[4]D.Garg,M.Patterson,W.Hager,A.Rao,D.Benson,G.Huntington,A Unified Framework For The Numerical Solution Of Optimal Control Problems Using Pseudospectral Methods.Automatica,2010,46(11):1843-1851.
[5]X.Wang,H.Peng,S.Zhang,B.Chen,W.Zhong.A Symplectic Pseudospectral Method for Nonlinear Optimal Control Problems With Inequality Constraints.ISA Transactions,2017.
[6]G.Lastma,A Shooting Method For Solving Two-Point Boundary-Value Problems Arising From Non-Singular Bang-Bang Optimal Control Problems.International Journal of Control,1978;27(4):513-524.
[7]H.Marzban,S.Hoseini,A Composite Chebyshev Finite Difference Method For Nonlinear Optimal Control Problems.Communications in Nonlinear Science and Numerical Simulations,2013;18(6):1347–1361.
[8]R.Bellman,R.Kalaba,Quasilinearization and nonlinear boundary value problems.New York:Elsevier,1965.
[9]L.Trefethen,Spectral Methods in MATLAB.Philadelphia:SIAM;2000.