TY - GEN
T1 - From nonholonomy to holonomy
T2 - Time-optimal velocity control of differential drive robots
AU - Poonawala, Hasan A.
AU - Spong, Mark W.
PY - 2015/8/24
Y1 - 2015/8/24
N2 - There is a large body of literature studying problems such as consensus, flocking, or formation control of multi-agent systems using simple dynamic models, such as first-order integrators. This raises the question of how to implement such results on nonholonomic mobile robot platforms, for example, differential-drive or unicycle-type robots. Since the nonholonomic constraints must be taken into account when commanding a desired velocity change for such robots, we investigate the problem of reaching a desired velocity in minimum time. Using the Pontryagin Maximum Principle, we investigate the time-optimal control for systems with bounded wheel torques as the control input.
AB - There is a large body of literature studying problems such as consensus, flocking, or formation control of multi-agent systems using simple dynamic models, such as first-order integrators. This raises the question of how to implement such results on nonholonomic mobile robot platforms, for example, differential-drive or unicycle-type robots. Since the nonholonomic constraints must be taken into account when commanding a desired velocity change for such robots, we investigate the problem of reaching a desired velocity in minimum time. Using the Pontryagin Maximum Principle, we investigate the time-optimal control for systems with bounded wheel torques as the control input.
UR - http://www.scopus.com/inward/record.url?scp=84994121228&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84994121228&partnerID=8YFLogxK
U2 - 10.1109/RoMoCo.2015.7219720
DO - 10.1109/RoMoCo.2015.7219720
M3 - Conference contribution
AN - SCOPUS:84994121228
T3 - 2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015
SP - 97
EP - 102
BT - 2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015
ER -