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Program Systems: Theory and Applications, 2017, Volume 8, Issue 4, Pages 163–178 (Mi ps283)  

Optimization Methods and Control Theory

Controlling a mobile robot along Eulers elasticae

A. A. Ardentov, A. V. Smirnov

Ailamazyan Program Systems Institute of Russian Academy of Sciences

Abstract: In this paper, we consider the problem of controlling a wheeled robot on a flat surface without obstacles. Arduino platform is a basis of the robot. We investigate the class of optimal controls that first appeared in the classical Euler's elastic problem. Finally, we present several examples of movement of the robot along Euler's elasticae and study the problem of trajectory avoidance from elasticae and possible ways to solve it.

Key words and phrases: mobile robot, kinematics, Euler's elastica, Arduino.

Funding Agency Grant Number
Russian Science Foundation 17-11-01387


DOI: https://doi.org/10.25209/2079-3316-2017-8-4-163-178

Full text: PDF file (11249 kB)
References: PDF file   HTML file

UDC: 514.852
Received: 11.12.2017
Accepted: 25.12.2017

Citation: A. A. Ardentov, A. V. Smirnov, “Controlling a mobile robot along Eulers elasticae”, Program Systems: Theory and Applications, 8:4 (2017), 163–178

Citation in format AMSBIB
\Bibitem{ArdSmi17}
\by A.~A.~Ardentov, A.~V.~Smirnov
\paper Controlling a mobile robot along Eulers elasticae
\jour Program Systems: Theory and Applications
\yr 2017
\vol 8
\issue 4
\pages 163--178
\mathnet{http://mi.mathnet.ru/ps283}
\crossref{https://doi.org/10.25209/2079-3316-2017-8-4-163-178}


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