Optimal Trajectory Control Of A Robotic Vehicle

Nejat Olgac; Marcelle Wood

doi:10.1117/12.937808

25 February 1987 Optimal Trajectory Control Of A Robotic Vehicle

Nejat Olgac, Marcelle Wood

Proceedings Volume 0727, Mobile Robots I; (1987) https://doi.org/10.1117/12.937808
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

Abstract

The primary target of this study is to analyze the efficiency of optimal control policies for an AGV (Automatically Guided Vehicle) setting. As AGV's assume more of the work load on a state-of-the-art factory floor, a variety of nonobstructive communication means with them will be needed to issue complex guidance commands. One of these means, an optical link is taken into account in this work. A line array of lights is planned to deliver coded control commands to the AGV during its operation on the shop floor. The objective is to position the robotic vehicle properly in order to recover the coded information from the light sources. The direct and inverse kinematics problems are solved first. Because of redundancy control, a number of optimality criteria are introduced to emphasize preference. A comparative study to classify the efficiency of each one of these criteria is presented. Multiple parameters governing the motion are chosen toward an optimum trajectory. The way in which the optimum path changes as the weighting factors of the objective function varies is another point of study covered in this report.

Citation Download Citation

Nejat Olgac and Marcelle Wood "Optimal Trajectory Control Of A Robotic Vehicle", Proc. SPIE 0727, Mobile Robots I, (25 February 1987); https://doi.org/10.1117/12.937808

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