Direct Optimal Motion Planning for Omni-directional Mobile Robots under Limitation on Velocity and Acceleration
This paper describes a low computational direct approach for optimal motion planning and obstacle avoidance of Omni-directional mobile robots within velocity and acceleration constraints on the robot motion. The main purpose of this problem is the minimization of a quadratic cost function while limi...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Islamic Azad University, Qazvin Branch
2017-04-01
|
| Series: | Journal of Optimization in Industrial Engineering |
| Subjects: | |
| Online Access: | http://www.qjie.ir/article_280_34e681f9c1508511b1127296dda3bac3.pdf |