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The Korean Institute of Electrical Engineers (대한전기학회)
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Navigation of a Mobile Robot Using Nonlinear Least Squares Optimization

비선형 최적화 방법을 이용한 이동로봇의 주행

  • 김곤우 (원광대학교 전자및제어공학부, 원광대학교 공업기술개발연구소) ;
  • 차영엽 (원광대학교 기계자동차공학부)
  • Received : 2011.02.08
  • Accepted : 2011.05.24
  • Published : 2011.07.01
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Abstract

The fundamental research for the mobile robot navigation using the numerical optimization method is presented. We define the mobile robot navigation problem as an unconstrained optimization problem to minimize the cost function with the pose error between the goal position and the position of a mobile robot. Using the nonlinear least squares optimization method, the optimal speeds of the left and right wheels can be found as the solution of the optimization problem. Especially, the rotational speed of wheels of a mobile robot can be directly related to the overall speed of a mobile robot using the Jacobian derived from the kinematic model. It will be very useful for applying to the mobile robot navigation. The performance was evaluated using the simulation.

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References

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Cited by

  1. Mobile Robot Navigation with Obstacle Avoidance based on the Nonlinear Least Squares Optimization Method using the Cost Function and the Sub-Goal Switching vol.63, pp.9, 2014, https://doi.org/10.5370/KIEE.2014.63.9.1266