Constrained Optimization Path Following of Wheeled Robots in Natural Terrain.
Thomas M. HowardRoss A. KnepperAlonzo KellyPublished in: ISER (2006)
Keyphrases
- constrained optimization
- mobile robot
- constrained optimization problems
- objective function
- constraint handling
- artificial systems
- multi robot
- unconstrained optimization
- augmented lagrangian
- quadruped robot
- inequality constraints
- legged robots
- penalty function
- lagrange multipliers
- stationary points
- closed form solutions
- penalty functions
- particle swarm optimization
- evolutionary algorithm
- semidefinite programming
- interval analysis