Relaxing Nonholonomic Constraints to Eliminate Chattering From Time-Optimal Control Solutions

被引：2
|
作者：
Bazzi, Salah [1 ]
Shammas, Elie [1 ]
Asmar, Daniel [1 ]
机构：
[1] Amer Univ Beirut, Dept Mech Engn, Vis & Robot Lab, Beirut 11072020, Lebanon
来源：
IEEE ROBOTICS AND AUTOMATION LETTERS | 2017年 / 2卷 / 03期
关键词：
Kinematics; motion and path planning; nonholonomic motion planning; optimization and optimal control; wheeled robots; OPTIMAL TRAJECTORIES; CURVATURE;
D O I：
10.1109/LRA.2017.2708162
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This letter presents a new approach to tackle the problem of infinite chattering, observed at bang-singular junctions of the minimum-time trajectories of car-like robots with bounded angular acceleration control. To eliminate chattering from time-optimal control solutions, we propose to relax the ideal nonholonomic constraint of no-skidding. A proof is presented to demonstrate that this relaxation eliminates chattering from the bang-singular junctions. Finally, a solution to the time-optimal synthesis under the condition of small skid angles is provided.
引用
收藏
页码：1817 / 1824
页数：8
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