کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
698102 | 890393 | 2009 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Optimal solutions to a class of power management problems in mobile robots
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
This paper studies an approach to minimize the power consumption of a mobile robot by controlling its traveling speed and the frequency of its on-board processor simultaneously. The problem is formulated as a discrete-time optimal control problem with a random terminal time and probabilistic state constraints. A general solution procedure suitable for arbitrary power functions of the motor and the processor is proposed. Furthermore, for a class of realistic power functions, the optimal solution is derived analytically. Interpretations of the optimal solution in the practical context are also discussed. Simulation results show that the proposed method can save a significant amount of energy compared with some heuristic schemes.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 45, Issue 4, April 2009, Pages 989–996
Journal: Automatica - Volume 45, Issue 4, April 2009, Pages 989–996
نویسندگان
Wei Zhang, Yung-Hsing Lu, Jianghai Hu,