From nonholonomy to holonomy: Time-optimal velocity control of differential drive robots

Hasan A. Poonawala; Mark W. Spong

doi:10.1109/RoMoCo.2015.7219720

From nonholonomy to holonomy: Time-optimal velocity control of differential drive robots

Hasan A. Poonawala, Mark W. Spong

Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015
Pages	97-102
Number of pages	6
ISBN (Electronic)	9781479970438
DOIs	https://doi.org/10.1109/RoMoCo.2015.7219720
State	Published - Aug 24 2015

Publication series

Name	2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

ASJC Scopus subject areas

Control and Systems Engineering
Human-Computer Interaction
Artificial Intelligence

Access to Document

10.1109/RoMoCo.2015.7219720

Cite this

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From nonholonomy to holonomy: Time-optimal velocity control of differential drive robots. / Poonawala, Hasan A.; Spong, Mark W.
2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015. 2015. p. 97-102 7219720 (2015 10th International Workshop on Robot Motion and Control, RoMoCo 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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From nonholonomy to holonomy: Time-optimal velocity control of differential drive robots

Abstract

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