Optimal control of skid steer wheeled mobile robots When crossing curved paths by analytical method

This article presents optimal control of skid steer wheeled mobile robots. Despite extensive studies on control of mobile robots motion in past researches, the optimal control of mobile robots has been paid less attention by researchers. Considering the high-energy consumption of skid steer wheeled mobile robots that results from side-slip of wheels in rotational maneuvers, designing optimum control schemes with the aim of optimizing the energy usage seems mandatory. Therefore, in this research by creating a target function based on system model and with the help of Hamilton's principle, the optimal velocity profile of robot motion is calculated analytically in order to optimize the energy consumption. Simulation results, supported bycomparison with the results of an optimal PD controller, show the efficacy of the proposed method and significant saving in energy usage of mobile robots

Keywords:

Optimal control , skid steer mobile robot , Hamilton's principle