Control of stochastic unicycle-type robots

Shridhar K. Shah; Herbert G. Tanner

ICRA 2015poster5 citations

Control of stochastic unicycle-type robots

Abstract

This paper addresses the problem of optimal control of a unicycle-type robot perturbed with stochastic noise in an environment with sparsely populated obstacles. The objective is that the robot pose converges to a neighborhood of a desired position and orientation. A feedback control law is constructed such that it is compatible with the differential constraints of the unicycle. The construction is based on numerical solution of the Hamilton-Jacobi-Bellman (HJB) partial differential equation (PDE) associated with a stochastic optimal control problem. The control law is optimal in terms of control effort and comes with probabilistic guarantees of convergence to the goal set.

BibTeX

@inproceedings{icra2015_controlofstochas,
  title = {Control of stochastic unicycle-type robots},
  author = {Shridhar K. Shah and Herbert G. Tanner},
  booktitle = {ICRA 2015},
  year = {2015}
}