Near Optimal Trajectory Generation for Omnidirectional Vehicles by Constrained Dynamic Inversion
Optimal control of robots and other autonomous systems is a problem of immense practical
importance and growing academic interest. 1, 2 Due to its wide application the control of
robotic manipulators has been investigated by numerous researchers in the past decades. 3–
9 However, in the last few years the increased availability and ever growing applications of
mobile robotic platforms have led to a surge in the number of papers and active researchers
in the area of optimal control of robotic vehicles. 10–19 For example, mobile robotic …
importance and growing academic interest. 1, 2 Due to its wide application the control of
robotic manipulators has been investigated by numerous researchers in the past decades. 3–
9 However, in the last few years the increased availability and ever growing applications of
mobile robotic platforms have led to a surge in the number of papers and active researchers
in the area of optimal control of robotic vehicles. 10–19 For example, mobile robotic …