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Optimal path planning for a mobile robot

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1 Author(s)
Hejase, A.J. ; Dept. of Electr. Eng., American Univ. of Beirut, Lebanon

A discussion is presented of the application of optimal control theory together with computer intelligence to search for the optimal path of a unidirectional mobile robot with two motorized wheels. The problem is to find the shortest path of restricted curvature between two work stations such that the initial and final conditions on the orientation of the vehicle are satisfied. The resultant navigation algorithm proves to be an excellent planner for the kind of mobile robots considered

Published in:

Circuits and Systems, 1990., Proceedings of the 33rd Midwest Symposium on

Date of Conference:

12-14 Aug 1990