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Transactions: INTERNATIONAL JOURNAL of MATHEMATICAL MODELS AND METHODS IN APPLIED SCIENCES
Transactions ID Number: 17-155
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: hachour_ouarda@yahoo.fr
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Title of the Paper: Optimal Control Path Planning
Authors as they appear in the Paper: Ouarda Hachour
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Number of paper pages: 8
Abstract: This paper deals with the optimal control path planning of autonomous mobile robot in an unknown environment. The robot has to find a collision-free trajectory between the starting configuration and the goal configuration in a static environment containing some obstacles. To this end, the robot needs the capability to build a map of the environment, which is essentially a repetitive process of moving to a new position, sensing the environment, updating the map, and planning subsequent motion. This is necessary to build the trajectory of sub positions "the feasible optimal connection towards the target without collisions". When an autonomous robot moves from a source position to a target position, it must find a feasible connection between the source and the target. In other word: It is necessary to plan an optimal or feasible path avoiding obstacles in its way and answer to some criterion of autonomy requirements such as: thermal, energy, time, and safety for exam!
ple. To deal with the principle: an optimal control is introduced to control the path of our autonomous mobile robot in unknown environment. 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. The objective of optimization theory is to determine the control process that will cause a process to satisfy the physical constraints and at the same time minimize (or maximize) the performance measure (cost). The best response is gotten at the end where all boundary elements constraints are satisfied. 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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