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

页码：1817 / 1824

页数：8

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