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Proceedings Paper

Optimal steering of a mobile robot
Author(s): Gerald Cook
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Paper Abstract

An interesting problem in the control of mobile robots is the steering. In this paper a mobile robot with front-wheel steering is treated. A third-order kinematic model is developed. The problem of optimally steering the robot from an initial position and heading to a final position and heading is addressed. The performance measure is taken to be elapsed time. Assuming a fixed speed, this corresponds to a path of minimum distance. It is found that the trajectory consists of segments of maximum-curvature turns and segments of straight lines. The straight-line segments are singular arcs. The problem is shown to simplify when final heading is free. Four examples are solved.

Paper Details

Date Published: 2 May 2007
PDF: 12 pages
Proc. SPIE 6561, Unmanned Systems Technology IX, 656127 (2 May 2007); doi: 10.1117/12.729308
Show Author Affiliations
Gerald Cook, George Mason Univ. (United States)


Published in SPIE Proceedings Vol. 6561:
Unmanned Systems Technology IX
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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