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  4. Optimal cooperative control of mobile robots based on Pontryagin's Minimum Principle
 
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Optimal cooperative control of mobile robots based on Pontryagin's Minimum Principle

Journal
International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2022
Date Issued
2022
Author(s)
Varela Aldas, José
Centro de Investigación de Ciencias Humanas y de la Educación
Type
Conference Paper
DOI
10.1109/ICECCME55909.2022.9988538
URL
https://cris.indoamerica.edu.ec/handle/123456789/8526
Abstract
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. © 2022 IEEE.
Subjects
  • Modelling, Identifica...

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3
Acquisition Date
Aug 15, 2025
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