Time-Optimal Control of the Bi-Steerable Robot: A Case Study in Optimal Control of Nonholonomic Systems
In this thesis, time-optimal control of the bi-steerable robot is addressed. The bi-steerable robot, a vehicle with two independently steerable axles, is a complex nonholonomic system with applications in many areas of land-based robotics. Motion planning and optimal control are challenging tasks fo...
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| Format: | Doctoral Thesis |
| Language: | English |
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2012
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| Online Access: | https://opus.bibliothek.uni-wuerzburg.de/frontdoor/index/index/docId/6378 http://nbn-resolving.de/urn:nbn:de:bvb:20-opus-75036 https://nbn-resolving.org/urn:nbn:de:bvb:20-opus-75036 https://opus.bibliothek.uni-wuerzburg.de/files/6378/DissertationMarkusMauder.pdf |