The Optimized Point Stabilization Control for Robots Based on Bézier Planning
In this paper, the optimized point stabilization control of nonholonomic wheeled mobile robot has been researched, and point stabilization control of constraint nonholonomic wheeled system has been achieved through the geometry planning method based on Bézier, and constrained system is converted to un-constraint optimized question based on introducing penalty functions. The optimized control parameters has been got through Hooke-Jeeves method to achieve the perfect combination of the optimized route planning and optimized control, which can make the robot achieve the target pose under the constraint condition and improve the smooth of move path and reduce the stable time. The controller's validity is proved by the experiment.
Y. H. Du et al., "The Optimized Point Stabilization Control for Robots Based on Bézier Planning", Applied Mechanics and Materials, Vols. 229-231, pp. 2266-2269, 2012