Real-Time Optimization for Mobile Robot Based on Algorithmic Control

摘要

In this paper, a real-time optimization method for nonlinear dynamical systems is proposed. The proposed method is based on the algorithms of numerical solutions for optimal control problems. We deal with a real-time collision- free motion control of a nonholonomic mobile robot, which has input restrictions of actuators. The effectiveness of the algorithmic method is demonstrated through numerical and experimental results. The mobile robot which we have developed is able to avoid moving obstacles skillfully. Therefore the proposed controller works well in real time. In this paper, a real-time optimization method for non- linear dynamical systems is proposed. We deal with a real-time collision-free motion control of a nonholonomic mobile robot that is practically important and theoreti- cally difficult to solve. The proposed method is based on the algorithms of numerical solutions of optimal control