OPTIMAL PATH PLANNING OF NONHOLONOMIC MOBILE ROBOTS USING OPTIMAL CONTROL METHOD AND VERIFICATION OF THE METHOD VIA EXPERIMENTAL TESTS OF THE SCOUT MOBILE ROBOT

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

KORAYEM M.H.; NAZEMIZADEH M.; GHAFFARPOUR H.

Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: Modares Mechanical Engineering Year:2012 | Volume:12 | Issue:2 Page(s): 87-94

Download Full-Text

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Persian Verion

View:

1,545

Download:

Cites:

Information Journal Paper

Title

OPTIMAL PATH PLANNING OF NONHOLONOMIC MOBILE ROBOTS USING OPTIMAL CONTROL METHOD AND VERIFICATION OF THE METHOD VIA EXPERIMENTAL TESTS OF THE SCOUT MOBILE ROBOT

Author(s)

KORAYEM M.H. | NAZEMIZADEH M. | GHAFFARPOUR H. | Issue Writer Certificate

Keywords

NONHOLONOMIC MOBILE ROBOTQ2

OPTIMAL PATH PLANNINGQ2

OPTIMAL CONTROL METHODQ2

THE SCOUT MOBILE ROBOTQ2

EXPERIMENTAL TESTQ2

Abstract

nonholonornic mobile robots are widely used in industrial environments due to their extended workspace. Also, to increase the productivity and efficiency of the mobile robot, their path planning is an important task, and is attracted attention of many of robotic scientists. In this paper, the OPTIMAL PATH PLANNING of the wheeled mobile robots are performed considering their nonlinear dynamic equations and the nonholonomic constraints. Problem of the trajectory optimization is formulated, and conditions of the optimality are derived as a set of nonlinear differential equations by means of indirect method of OPTIMAL CONTROL METHOD. Then, the optimality equations are solved numerically, and variant simulations are executed. To verify the simulation study, some experimental analysis are done for THE SCOUT MOBILE ROBOT and compared to the simulation results. The experimental analysis verifies the simulation results, and demonstrates the applicability of the proposed method for the OPTIMAL PATH PLANNING of the mobile robots.

Cites

No record.

References

No record.

Cite

APA: Copy

KORAYEM, M.H., NAZEMIZADEH, M., & GHAFFARPOUR, H.. (2012). OPTIMAL PATH PLANNING OF NONHOLONOMIC MOBILE ROBOTS USING OPTIMAL CONTROL METHOD AND VERIFICATION OF THE METHOD VIA EXPERIMENTAL TESTS OF THE SCOUT MOBILE ROBOT. MODARES MECHANICAL ENGINEERING, 12(2), 87-94. SID. https://sid.ir/paper/177852/en

Vancouver: Copy

KORAYEM M.H., NAZEMIZADEH M., GHAFFARPOUR H.. OPTIMAL PATH PLANNING OF NONHOLONOMIC MOBILE ROBOTS USING OPTIMAL CONTROL METHOD AND VERIFICATION OF THE METHOD VIA EXPERIMENTAL TESTS OF THE SCOUT MOBILE ROBOT. MODARES MECHANICAL ENGINEERING[Internet]. 2012;12(2):87-94. Available from: https://sid.ir/paper/177852/en

IEEE: Copy

M.H. KORAYEM, M. NAZEMIZADEH, and H. GHAFFARPOUR, “OPTIMAL PATH PLANNING OF NONHOLONOMIC MOBILE ROBOTS USING OPTIMAL CONTROL METHOD AND VERIFICATION OF THE METHOD VIA EXPERIMENTAL TESTS OF THE SCOUT MOBILE ROBOT,” MODARES MECHANICAL ENGINEERING, vol. 12, no. 2, pp. 87–94, 2012, [Online]. Available: https://sid.ir/paper/177852/en

Related Journal Papers