@inproceedings{0734b5103341404285b68e60d10d84b2,
title = "Energy Optimal Obstacle Avoidance Motion Planning for Wheeled Mobile Robots",
abstract = "Energy optimal motion planning of a wheeled mobile robot with a circular obstacle is addressed in this article. The trajectory planning problem is posed as an optimal control problem with state inequality constraint where the benchmark L2 norm of the control inputs is considered as the cost function. The necessary conditions for optimality are formally derived using the variational principle and the fact that the control inputs remain continuous at the time instant of entering the constraint boundary is proven. The necessary conditions permit decomposing the problem in two intervals: prior to and after activation of the constraint. Parametric studies are conducted to study the impact of the size of the obstacle of the optimal trajectory of the wheeled mobile robot.",
keywords = "Calculus of Variations, Mobile Robot, Motion Planning, Obstacle Avoidance, Optimal Control",
author = "Youngjin Kim and Tarunraj Singh",
note = "Publisher Copyright: {\textcopyright} 2024 AACC.; 2024 American Control Conference, ACC 2024 ; Conference date: 10-07-2024 Through 12-07-2024",
year = "2024",
doi = "10.23919/ACC60939.2024.10644836",
language = "English",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1323--1328",
booktitle = "2024 American Control Conference, ACC 2024",
address = "United States",
}