Title :
Optimal path planning for the motion of a wheel
Author :
Cameron, Jonathan M. ; Book, Wayne J.
Author_Institution :
George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
In this paper, the authors examine optimal path planning for the motion of a wheel which minimizes some combination of time and effort expended. Several techniques are examined but a combination of continuation and multi-dimensional Newton-Raphson shooting is shown to be effective, within limits
Keywords :
dynamic programming; genetic algorithms; iterative methods; mobile robots; numerical analysis; optimal control; path planning; continuation; multi-dimensional Newton-Raphson shooting; optimal path planning; wheel; Battery powered vehicles; Books; Cost function; Equations; Kinematics; Mechanical engineering; Mobile robots; Path planning; Remotely operated vehicles; Wheels;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351365
