Constraints' resolution by optimal trajectory planning for anholonom devices

J. Tar, I. Rudas, János F. Bitó

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Most of the wheeled vehicles are anholonom systems the position and the rotational pose of which cannot arbitrarily be determined. This problem typically is solved by iterative, small, "back and forth" type movements while leaving a place/occupying a vacancy in a crowded parking place and also needs simple solution in the tracking control of a smooth path of considerable velocity. For this purpose convenient solution can be the prescription of kinematically not exactly realizable position and pose data that can only be approximated by using optimal control finding compromise between the requirements in contradiction instead of inventing realizable nominal trajectories that mathematically may be cumbersome since it normally requires the use of Frenet frames. Instead applying the "orthodox" method by Pontryagin expressing the kinematic restrictions as constraints with associated Lagrange multipliers in the proposed solution these restrictions are explicitly built in so the simplest form of the Gradient Descent Method becomes applicable. Simulation calculations using MS EXCEL's SOLVER package and Visual Basic taking into account the dynamics of the steering wheel and that of the vehicle in the longitudinal direction are presented to show the applicability of this concept.

Original languageEnglish
Title of host publicationProceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
Pages1596-1601
Number of pages6
DOIs
Publication statusPublished - 2008
Event34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 - Orlando, FL, United States
Duration: Nov 10 2008Nov 13 2008

Other

Other34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008
CountryUnited States
CityOrlando, FL
Period11/10/0811/13/08

Fingerprint

Trajectories
Planning
Lagrange multipliers
Parking
Vacancies
Wheels
Kinematics

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Tar, J., Rudas, I., & Bitó, J. F. (2008). Constraints' resolution by optimal trajectory planning for anholonom devices. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008 (pp. 1596-1601). [4758192] https://doi.org/10.1109/IECON.2008.4758192

Constraints' resolution by optimal trajectory planning for anholonom devices. / Tar, J.; Rudas, I.; Bitó, János F.

Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. p. 1596-1601 4758192.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tar, J, Rudas, I & Bitó, JF 2008, Constraints' resolution by optimal trajectory planning for anholonom devices. in Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008., 4758192, pp. 1596-1601, 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008, Orlando, FL, United States, 11/10/08. https://doi.org/10.1109/IECON.2008.4758192
Tar J, Rudas I, Bitó JF. Constraints' resolution by optimal trajectory planning for anholonom devices. In Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. p. 1596-1601. 4758192 https://doi.org/10.1109/IECON.2008.4758192
Tar, J. ; Rudas, I. ; Bitó, János F. / Constraints' resolution by optimal trajectory planning for anholonom devices. Proceedings - 34th Annual Conference of the IEEE Industrial Electronics Society, IECON 2008. 2008. pp. 1596-1601
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