移動ロボットの最適制御シミュレーション(シミュレーションの世界)  [in Japanese] Numerical Simulations for Optimal Control Design of Mobile Robots(Essay)  [in Japanese]

In this paper, a real-time optimization for nonlinear dynamical systems is proposed. The proposed method is based on the algorithms of numerical solutions of optimal control problems. It is applied to a differential-driven mobile robot, where there are input restrictions of actuators and there exist obstacles in the movable region. The effectiveness of proposed algorithmic method is demonstrated through simulation results. They show the proposed controller works well in real time, even in the case of including moving obstacles.