1997 Fiscal Year Final Research Report Summary
MOTION PLANNING PROBLEM OF NONHOLONOMIC CAR-LIKE ROBOTS BY OPTIMAL CONTROL THEORY
| Project/Area Number |
08660309
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
農業機械学
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| Research Institution | IWATE UNIVERSITY |
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Principal Investigator |
TORISU Ryo IWATE UNIVERSITY,FACULTY OF AGRICULTURE,PROFESSOR, 農学部, 教授 (70038264)
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| Co-Investigator(Kenkyū-buntansha) |
TAKEDA Junichi IWATE UNIVERSITY,FACULTY OF AGRICULTURE,ASOCIATE PROFESSOR, 農学部, 助教授 (80133908)
IMAE Joe IWATE UNIVERSITY,FACULTY OF ENGINEERING,ASOCIATE PROFESSOR, 工学部, 助教授 (30184807)
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| Project Period (FY) |
1996 – 1997
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| Keywords | nonholonomic system / tractor / mobile robot (car-like robot) / headland / auto-pilot / motion planning / optimal time control |
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| Research Abstract |
(1) OPTlMAL PATH OF HEADLAND FOR TRACTORS BY OPTIMAL CONTROL THEORY
We deal with optimal time/path problems of tractors on the head land. Firstly we show that such problems are essentialy equivalent to trajectory optimization problems of non-holonomic mobile robot. Secondary making use of Pontryagine's maximum principle we analytically exprore such optimal problems. Lastly by means of trajectory optimization techniques we computationasly solve the optimal time/path problems of tractors on the headland.
(2) A NONLINEAR FEEDBACK CONTROLLER FOR THE AUTO-COUPLING OF TRACTOR-IMPLEMENT SYSTEMS
Based on the two-degree-of-freedom tecnique, we design nonlinear feedback controllers for the backward maneuvering of tractors. First, using nolinear optimal control algorithms we obtained reference trajectories in advance by off-line calculations. Next, using the LQ optimal control tecnique, we construct linear feedback controllers which let the tractor to asymtotically convege to one of such trajectorie
… More
s, we propose the nonlinear feedbak controllers, which are applicable to the control of robust bacward maneuvering of tractors.
(3) A FEEDBACK CONTROL DESIGN FOR CONSTRAINED NONHOLONOMIC SYSTEMS
We present a time-varing feedback controller for constrained nonholonomic systems, Which consists of feedforward and feedback controllers. Our approach is mainly based on two-degree-freedom (2-DOF) tecniques for nonlinear systems. First, we obtain the numerical solutions for ceartain nonlinear optimal control problems with state-constraints throuh off-line calculations. Then, we construct the feedforward controller with the help of such optimal solutions. Next, we construct the linear time-invariant feedback controller by making use of the regulator theory on associated linearized systems. Combining such two controllers and introducing simple scheme on how to avoid the obstacles, the 2-DOF based time varing feedback controller is proposed. Lastly, we demonstrate by some numerical simulations the practicability of the proposed controller. Less
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Research Products
(9 results)
