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  • MF - Bildiri Koleksiyonu | Makine Mühendisliği Bölümü / Department of Mechanical Engineering
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A global optimal control methodology and its application to a mobile robot model

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Date

2016

Author

Dinçmen, Erkin

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Citation

Dinçmen, E. (2016). A global optimal control methodology and its application to a mobile robot model. Paper presented at the IFAC-PapersOnLine, 49(21), 501-506. doi:10.1016/j.ifacol.2016.10.652

Abstract

A global optimal control algorithm is developed and applied to an omni-directional mobile robot model. The aim is to search and find the most intense signal source among other signal sources in the operation region of the robot. In other words, the control problem is to find the global extremum point when there are local extremas. The locations of the signal sources are unknown and it is assumed that the signal magnitudes are maximum at the sources and their magnitudes are decreasing away from the sources. The distribution characteristics of the signals are unknown, i.e. the gradients of the signal distribution functions are unknown. The control algorithm also doesn't need any position measurement of the robot itself. Only the signal magnitude should be measured via a sensor mounted on the robot. The simulation study shows the performance of the controller.

Source

IFAC-PapersOnLine

Volume

49

Issue

21

URI

https://hdl.handle.net/11729/1161
http://dx.doi.org/10.1016/j.ifacol.2016.10.652

Collections

  • MF - Bildiri Koleksiyonu | Makine Mühendisliği Bölümü / Department of Mechanical Engineering [35]
  • Scopus İndeksli Bildiri Koleksiyonu [409]
  • WoS İndeksli Bildiri Koleksiyonu [332]



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