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Authors: Alain Segundo Potts 1 ; José Jaime da Cruz 1 and Reinaldo Bernardi 2

Affiliations: 1 São Paulo University, Brazil ; 2 Genius Institute of Technology, São Paulo University, Brazil

Keyword(s): Mobile robots, quadratic programming, minimum energy, optimal control.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: As a consequence of physical constraints and of dynamical nonlinearities, optimal control problems involving mobile robots are generally difficult ones. Many algorithms have been developed to solve such problems, the more common being related to trajectory planning, minimum-time control or any specific performance index. Nevertheless optimal control problems associated to mobile robots have not been reported. Minimum energy problems subject to both equality and inequality constraints are generally intricate ones to be solved using classical methods. In this paper we present an algorithm to solve it using a Quadratic Programming approach. In order to illustrate the application of the algorithm, one practical problem was solved.

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Paper citation in several formats:
Segundo Potts, A.; Jaime da Cruz, J. and Bernardi, R. (2008). A QUADRATIC PROGRAMMING APPROACH TO THE MINIMUM ENERGY PROBLEM OF A MOBILE ROBOT. In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8111-31-9; ISSN 2184-2809, SciTePress, pages 245-251. DOI: 10.5220/0001499102450251

@conference{icinco08,
author={Alain {Segundo Potts}. and José {Jaime da Cruz}. and Reinaldo Bernardi.},
title={A QUADRATIC PROGRAMMING APPROACH TO THE MINIMUM ENERGY PROBLEM OF A MOBILE ROBOT},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2008},
pages={245-251},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001499102450251},
isbn={978-989-8111-31-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - A QUADRATIC PROGRAMMING APPROACH TO THE MINIMUM ENERGY PROBLEM OF A MOBILE ROBOT
SN - 978-989-8111-31-9
IS - 2184-2809
AU - Segundo Potts, A.
AU - Jaime da Cruz, J.
AU - Bernardi, R.
PY - 2008
SP - 245
EP - 251
DO - 10.5220/0001499102450251
PB - SciTePress