Translator Disclaimer
25 February 1987 Optimal Trajectory Control Of A Robotic Vehicle
Author Affiliations +
Proceedings Volume 0727, Mobile Robots I; (1987)
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States
The primary target of this study is to analyze the efficiency of optimal control policies for an AGV (Automatically Guided Vehicle) setting. As AGV's assume more of the work load on a state-of-the-art factory floor, a variety of nonobstructive communication means with them will be needed to issue complex guidance commands. One of these means, an optical link is taken into account in this work. A line array of lights is planned to deliver coded control commands to the AGV during its operation on the shop floor. The objective is to position the robotic vehicle properly in order to recover the coded information from the light sources. The direct and inverse kinematics problems are solved first. Because of redundancy control, a number of optimality criteria are introduced to emphasize preference. A comparative study to classify the efficiency of each one of these criteria is presented. Multiple parameters governing the motion are chosen toward an optimum trajectory. The way in which the optimum path changes as the weighting factors of the objective function varies is another point of study covered in this report.
© (1987) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Nejat Olgac and Marcelle Wood "Optimal Trajectory Control Of A Robotic Vehicle", Proc. SPIE 0727, Mobile Robots I, (25 February 1987);


Novel precision mechanical design for ellipsometer
Proceedings of SPIE (February 12 2001)
Mobile robot kinematic reconfigurability for rough terrain
Proceedings of SPIE (October 16 2000)
DARPA Program-Intelligent Task Automation
Proceedings of SPIE (May 23 1983)
Adaptive mobility for rescue robots
Proceedings of SPIE (September 22 2003)
Ground Vehicle Convoying
Proceedings of SPIE (January 01 1987)

Back to Top