期刊刊名：修平學報 　 卷期：23期

篇名出版日期：2011年9月1日

作者：Shi-Min Wang, Chia-Ju Wu, Jia-Yan Wei,王世民,吳佳儒,魏嘉延

語言：English

關鍵字：Time-optimal control, nonlinear programming, omni-directional robots,時間最佳化控制,非線性規劃,全方位機器人

被點閱次數：14次

閱讀時間：271sec

摘要：
The time-optimal control problem of a three-wheeled omni-directional mobile robot is addressed in this paper. Different from usual cases, in which the Pontryagin's Minimum Principle (PMP) is used, an iterative procedure is proposed to transform the time-optimal problem into a nonlinear programming (NLP) one. In the NLP problem, the count of control steps is fixed initially and the sampling period is treated as a variable in the optimization process. The optimization object is to minimize the sampling period such that it is below a specific minimum value, which is set in advance considering the accuracy of discretization. To generate initial feasible solutions of the formulated NLP problem, genetic algorithms (GAs) are adopted. Since different initial feasible solutions can be generated, the optimization process can be started from different points to find the optimal solution. In this manner, one can find a time-optimal movement of the omni-directional mobile robot between two configurations. To show the feasibility of the proposed method, simulation results are included for illustration.

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