"This work first presents the development of a nearly-optimal control scheme and then evaluates the effectiveness of this nearly-optimal control scheme by comparing it to a non optimal controller in Paper I. It is shown that the proposed nearly-optimal scheme is a significant improvement over the non optimal one in both simulation and hardware tests. The test was carried out on a differentially driven robotic vehicle in both obstacle free and obstacle ridden environments. On the other hand, the controller introduced for the obstacle avoidance in Paper II will also function in the absence of obstacles so that no switching between controllers is required. The tests also show that the nearly optimal control scheme is still well within the capabilities of an embedded processor"--Abstract, page iv.
Sarangapani, Jagannathan, 1965-
Zawodniok, Maciej Jan, 1975-
Electrical and Computer Engineering
M.S. in Computer Engineering
National Science Foundation (U.S.)
Missouri University of Science and Technology
Journal article titles appearing in thesis/dissertation
- Optimal control of mobile robot formations in discrete-time using neural networks
- Obstacle avoidance with mobile robot formations using optimal control
xi, 93 pages
© 2010 Bryan Michael Brenner, All rights reserved.
Thesis - Restricted Access
Library of Congress Subject Headings
Mobile robots -- Design
Robots -- Control systems -- Design
Print OCLC #
Electronic OCLC #
Link to Catalog RecordElectronic access to the full-text of this document is restricted to Missouri S&T users. Otherwise, request this publication directly from Missouri S&T Library or contact your local library. http://laurel.lso.missouri.edu/record=b8244129~S5
Brenner, Bryan M., "Embedded optimal control of mobile robot formations using neural networks" (2010). Masters Theses. 127.