A global optimal control methodology and its application to a mobile robot model
Yükleniyor...
Dosyalar
Tarih
2016
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Elsevier B.V.
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
A global optimal control algorithm is developed and applied to an omni-directional mobile robot model. The aim is to search and find the most intense signal source among other signal sources in the operation region of the robot. In other words, the control problem is to find the global extremum point when there are local extremas. The locations of the signal sources are unknown and it is assumed that the signal magnitudes are maximum at the sources and their magnitudes are decreasing away from the sources. The distribution characteristics of the signals are unknown, i.e. the gradients of the signal distribution functions are unknown. The control algorithm also doesn't need any position measurement of the robot itself. Only the signal magnitude should be measured via a sensor mounted on the robot. The simulation study shows the performance of the controller.
Açıklama
Anahtar Kelimeler
Extremum seeking, Global optimization, Mobile robot, Control theory, Distribution functions, Optimization, Distribution characteristics, Global optimal control, Omnidirectional mobile robot, Operation regions, Signal distribution, Signal magnitude, Simulation studies, Robots
Kaynak
IFAC-PapersOnLine
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
Cilt
49
Sayı
21
Künye
Dinçmen, E. (2016). A global optimal control methodology and its application to a mobile robot model. Paper presented at the IFAC-PapersOnLine, 49(21), 501-506. doi:10.1016/j.ifacol.2016.10.652
