Relaxing Nonholonomic Constraints to Eliminate Chattering From Time-Optimal Control Solutions
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Institute of Electrical and Electronics Engineers Inc.
Abstract
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. © 2016 IEEE.
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Keywords
Kinematics, Motion and path planning, Nonholonomic motion planning, Optimization and optimal control, Wheeled robots, Motion planning, Angular acceleration, Minimum-time trajectory, Non holonomic constraint, Time optimal control, Wheeled robot, Robot programming