{"id":{"repo_id":"buffalo","oai_identifier":"oai:ubir.buffalo.edu:10477/86643"},"canonical_url":"https://search.dev.ndltd.org/etd/buffalo/oai:ubir.buffalo.edu:10477/86643","repository":{"repo_id":"buffalo","name":"Buffalo","base_url":"https://ubir.buffalo.edu/oai/request"},"display":{"title":"Optimal Control of a Differential-Drive Mobile Robot","abstract":"M.S.","abstract_html":"M.S.","abstract_has_math":false,"creators":["Kim, Youngjin"],"institution":"State University of New York at Buffalo","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":null,"school":null,"contributors":["Singh, Tarunraj","Mechanical and Aerospace Engineering"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2025,"date_issued":"2025-02-21T21:35:57Z","date_published":"2025-02-21T21:35:57Z","updated_at":"2026-07-27T19:05:32Z","subjects":["mechanical engineering"],"languages":["eng"],"rights":["Users of works found in University at Buffalo Institutional Repository (UBIR) are responsible for identifying and contacting the copyright owner for permission to reuse. University at Buffalo Libraries do not manage rights for copyright-protected works and cannot assist with permissions.","Copyright retained by author."],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/10477/86643","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Singh, Tarunraj","Mechanical and Aerospace Engineering"]},{"key":"dc:creator","label":"Author","values":["Kim, Youngjin"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2025-02-21T21:35:57Z","2020"]},{"key":"dc:publisher","label":"Institution","values":["State University of New York at Buffalo"]},{"key":"dc:type","label":"Dc Type","values":["Text","Thesis"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["mechanical engineering"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Users of works found in University at Buffalo Institutional Repository (UBIR) are responsible for identifying and contacting the copyright owner for permission to reuse. University at Buffalo Libraries do not manage rights for copyright-protected works and cannot assist with permissions.","Copyright retained by author."]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/10477/86643"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["M.S.","Point-to-point obstacle-free space path planning for a kinematic model of a differential-drive mobile robot to minimize input energy and energy\\maneuver time is presented in this work. The optimal control problem is formulated in the scenario where the initial and final positions of the robot are specified. Notably, the terminal states are parameterized in the polar-form, which lies on a unit circle in the first quadrant. The necessary conditions for optimality are determined by using the Hamiltonian formulation and the Calculus of Variations, which resulting in a two-point boundary value problem and solved numerically. Furthermore, the analytical expression of optimal controls and state trajectories are obtained by using the Jacobi elliptic functions, which transforms the optimal control problem into nonlinear programming problem, which is solved for the unknown parameters and the results are compared with the shooting method based numerical solutions. Lastly, the resulting closed-form expression of control and state profiles are used to design the closed-loop controller utilizing the idea of Differential Flatness.","**To request an accessible version of the file(s) associated with this item, contact library@buffalo.edu. Please include the item's persistent URL [http://hdl.handle.net/. . .] in your request.**"]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Optimal Control of a Differential-Drive Mobile Robot"]}]}],"canonical_facts":{"dc:contributor":["Singh, Tarunraj","Mechanical and Aerospace Engineering"],"dc:creator":["Kim, Youngjin"],"dc:date":["2025-02-21T21:35:57Z","2020"],"dc:description":["M.S.","Point-to-point obstacle-free space path planning for a kinematic model of a differential-drive mobile robot to minimize input energy and energy\\maneuver time is presented in this work. The optimal control problem is formulated in the scenario where the initial and final positions of the robot are specified. Notably, the terminal states are parameterized in the polar-form, which lies on a unit circle in the first quadrant. The necessary conditions for optimality are determined by using the Hamiltonian formulation and the Calculus of Variations, which resulting in a two-point boundary value problem and solved numerically. Furthermore, the analytical expression of optimal controls and state trajectories are obtained by using the Jacobi elliptic functions, which transforms the optimal control problem into nonlinear programming problem, which is solved for the unknown parameters and the results are compared with the shooting method based numerical solutions. Lastly, the resulting closed-form expression of control and state profiles are used to design the closed-loop controller utilizing the idea of Differential Flatness.","**To request an accessible version of the file(s) associated with this item, contact library@buffalo.edu. Please include the item's persistent URL [http://hdl.handle.net/. . .] in your request.**"],"dc:format":["application/pdf"],"dc:identifier":["http://hdl.handle.net/10477/86643"],"dc:language":["eng"],"dc:publisher":["State University of New York at Buffalo"],"dc:rights":["Users of works found in University at Buffalo Institutional Repository (UBIR) are responsible for identifying and contacting the copyright owner for permission to reuse. University at Buffalo Libraries do not manage rights for copyright-protected works and cannot assist with permissions.","Copyright retained by author."],"dc:subject":["mechanical engineering"],"dc:title":["Optimal Control of a Differential-Drive Mobile Robot"],"dc:type":["Text","Thesis"]},"updated_at":"2026-07-27T19:05:32Z"}