The following information was submitted:
Transactions: INTERNATIONAL JOURNAL of MATHEMATICS AND COMPUTERS IN SIMULATION
Transactions ID Number: 17-160
Full Name: ouarda Hachour
Position: Doctor (Researcher)
Age: ON
Sex: Female
Address: BP N°216 Ain Benian Algiers Algeria
Country: ALGERIA
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E-mail address: kala_ouarda@yahoo.fr
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Title of the Paper: The Proposed Optimal Control Navigation
Authors as they appear in the Paper: Ouarda Hachour
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Number of paper pages: 8
Abstract: Systems that control the navigation of a mobile robot are based on several paradigms. The controller may be programmed to operate the robot in a number of way; thus distinguishing it from hard automation. The controller is also responsible for the monitoring of auxiliary sensor that detect the presence, distance, velocity, shape, weight, or other properties of objects. It is important that algorithms for navigation control in cluttered environments not be too computationally expensive as this would result in a sluggish response. A more appropriate approach in motion control of a mobile robot is to use an optimal control process to optimize more the response. With such a controller the robot's path-planning task is reduced to setting intermediate positions (subgoals) lying on the requested path. In order to reach its goal nonetheless, the robot must incorporate new information gained during plan execution. As time marches forward, the environment changes and the r!
obot's sensors gather new information. This is precisely where reacting becomes relevant. To deal with the principle : an optimal control path planning of autonomous mobile robot in an unknown environment is introduced. The proposed approach is aimed to solve the problem of optimal control. That means that, find an admissible control which causes the systems to follow an admissible trajectory that minimize the performance. This algorithm provides the robot the possibility to move from the initial position to the final position (target) without collisions where the main factors of moving are included. The robot succeeds to reach the target without collisions
Keywords: Autonomous Mobile Robot (AMR), Optimal Control, Motion, Admissibility, Performance Measure
EXTENSION of the file: .pdf
Special (Invited) Session: Autonomous Mobile robots motion in unknown environments
Organizer of the Session: 659-131
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