Optimal cooperative control of mobile robots based on Pontryagin's Minimum Principle
This work presents the cooperative control with optimization for positioning of mobile robots based on Pontryagin's Minimum Principle. The problem to be solved is the minimum energy related to the control actions of the robots. The objective function is subject to the equations of states of the...
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| Үндсэн зохиолч: | |
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| Формат: | article |
| Хэл сонгох: | eng |
| Хэвлэсэн: |
2022
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| Онлайн хандалт: | https://ieeexplore.ieee.org/abstract/document/9988538 https://hdl.handle.net/20.500.14809/4836 |
| Шошгууд: |
Шошго нэмэх
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Шошго нэмэх | _version_ | 1862854388314275840 |
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| author | Varela-Aldás, José |
| author_facet | Varela-Aldás, José |
| author_role | author |
| collection | Repositorio Universidad Tecnológica Indoamérica |
| dc.creator.none.fl_str_mv | Varela-Aldás, José |
| dc.date.none.fl_str_mv | 2022 2023-03-25T21:25:09Z 2023-03-25T21:25:09Z |
| dc.identifier.none.fl_str_mv | https://ieeexplore.ieee.org/abstract/document/9988538 https://hdl.handle.net/20.500.14809/4836 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2022. 2022 International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2022. Male. 16 November 2022through 18 November 2022 |
| dc.rights.none.fl_str_mv | https://creativecommons.org/licenses/by/4.0/ info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:Repositorio Universidad Tecnológica Indoamérica instname:Universidad Tecnológica Indoamérica instacron:UTI |
| dc.title.none.fl_str_mv | Optimal cooperative control of mobile robots based on Pontryagin's Minimum Principle |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/article |
| description | This work presents the cooperative control with optimization for positioning of mobile robots based on Pontryagin's Minimum Principle. The problem to be solved is the minimum energy related to the control actions of the robots. The objective function is subject to the equations of states of the triangular formation of the 3 mobile robots and is restricted to boundary conditions that include the desired form parameters. The mathematical model of the system is based on the kinematic transformation of the position of the robots towards the parameters of the formation. To solve the differential equations obtained, the shooting method is programmed for two initial value problems. The results show the evolution of the robots' positions and the positioning errors that tend to zero, validating this proposal through simulation. In addition, the control actions allow determining the energy index to compare it with a previous work, achieving a lower value. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | UTI_ca5fa0584ab07d42fe73d56036d7d147 |
| instacron_str | UTI |
| institution | UTI |
| instname_str | Universidad Tecnológica Indoamérica |
| language | eng |
| network_acronym_str | UTI |
| network_name_str | Repositorio Universidad Tecnológica Indoamérica |
| oai_identifier_str | oai:repositorio.uti.edu.ec:20.500.14809/4836 |
| publishDate | 2022 |
| publisher.none.fl_str_mv | International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2022. 2022 International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2022. Male. 16 November 2022through 18 November 2022 |
| reponame_str | Repositorio Universidad Tecnológica Indoamérica |
| repository.mail.fl_str_mv | . |
| repository.name.fl_str_mv | Repositorio Universidad Tecnológica Indoamérica - Universidad Tecnológica Indoamérica |
| repository_id_str | 0 |
| rights_invalid_str_mv | https://creativecommons.org/licenses/by/4.0/ |
| spelling | Optimal cooperative control of mobile robots based on Pontryagin's Minimum PrincipleVarela-Aldás, JoséThis work presents the cooperative control with optimization for positioning of mobile robots based on Pontryagin's Minimum Principle. The problem to be solved is the minimum energy related to the control actions of the robots. The objective function is subject to the equations of states of the triangular formation of the 3 mobile robots and is restricted to boundary conditions that include the desired form parameters. The mathematical model of the system is based on the kinematic transformation of the position of the robots towards the parameters of the formation. To solve the differential equations obtained, the shooting method is programmed for two initial value problems. The results show the evolution of the robots' positions and the positioning errors that tend to zero, validating this proposal through simulation. In addition, the control actions allow determining the energy index to compare it with a previous work, achieving a lower value.International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2022. 2022 International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2022. Male. 16 November 2022through 18 November 20222023-03-25T21:25:09Z2023-03-25T21:25:09Z2022info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttps://ieeexplore.ieee.org/abstract/document/9988538https://hdl.handle.net/20.500.14809/4836enghttps://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessreponame:Repositorio Universidad Tecnológica Indoaméricainstname:Universidad Tecnológica Indoaméricainstacron:UTI2023-04-18T02:30:33Zoai:repositorio.uti.edu.ec:20.500.14809/4836Institucionalhttps://repositorio.uti.edu.ec/Institución privadahttps://indoamerica.edu.ec/https://repositorio.uti.edu.ec/oai.Ecuador...opendoar:02023-04-18T02:30:33Repositorio Universidad Tecnológica Indoamérica - Universidad Tecnológica Indoaméricafalse |
| spellingShingle | Optimal cooperative control of mobile robots based on Pontryagin's Minimum Principle Varela-Aldás, José |
| status_str | publishedVersion |
| title | Optimal cooperative control of mobile robots based on Pontryagin's Minimum Principle |
| title_full | Optimal cooperative control of mobile robots based on Pontryagin's Minimum Principle |
| title_fullStr | Optimal cooperative control of mobile robots based on Pontryagin's Minimum Principle |
| title_full_unstemmed | Optimal cooperative control of mobile robots based on Pontryagin's Minimum Principle |
| title_short | Optimal cooperative control of mobile robots based on Pontryagin's Minimum Principle |
| title_sort | Optimal cooperative control of mobile robots based on Pontryagin's Minimum Principle |
| url | https://ieeexplore.ieee.org/abstract/document/9988538 https://hdl.handle.net/20.500.14809/4836 |