Abstract
This paper presents a hybrid intelligent algorithm for path planning and trajectory-tracking control of a wheeled mobile robot (WMR). By using the proposed controller, the WMR can successfully finish the object of trajectory-tracking. First of all, we use D* Lite algorithm to determine the shortest path between the initial position and the destination position for the WMR. Then by using the proposed controller, the WMR can move along the path and arrive at the destination successfully. The controller is divided in two parts, which are kinematic controller and dynamic controller. The asymptotic stability of both kinematic and dynamic controllers is proven by Lyapunov theory. Finally, experiments show that this method can achieve good results.
| Original language | English |
|---|---|
| Title of host publication | ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings |
| Pages | 195-199 |
| Number of pages | 5 |
| DOIs | |
| Publication status | Published - 2013 Nov 18 |
| Event | IEEE International Conference on System Science and Engineering, ICSSE 2013 - Budapest, Hungary Duration: 2013 Jul 4 → 2013 Jul 6 |
Other
| Other | IEEE International Conference on System Science and Engineering, ICSSE 2013 |
|---|---|
| Country | Hungary |
| City | Budapest |
| Period | 13/7/4 → 13/7/6 |
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ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Design and implementation of adaptive dynamic controllers for wheeled mobile robots. / Kao, Yi Feng; Chien, Yi Hsing; Li, I. Hsum; Wang, Wei-Yen; Lee, Tsu Tian.
ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings. 2013. p. 195-199 6614658.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Design and implementation of adaptive dynamic controllers for wheeled mobile robots
AU - Kao, Yi Feng
AU - Chien, Yi Hsing
AU - Li, I. Hsum
AU - Wang, Wei-Yen
AU - Lee, Tsu Tian
PY - 2013/11/18
Y1 - 2013/11/18
N2 - This paper presents a hybrid intelligent algorithm for path planning and trajectory-tracking control of a wheeled mobile robot (WMR). By using the proposed controller, the WMR can successfully finish the object of trajectory-tracking. First of all, we use D* Lite algorithm to determine the shortest path between the initial position and the destination position for the WMR. Then by using the proposed controller, the WMR can move along the path and arrive at the destination successfully. The controller is divided in two parts, which are kinematic controller and dynamic controller. The asymptotic stability of both kinematic and dynamic controllers is proven by Lyapunov theory. Finally, experiments show that this method can achieve good results.
AB - This paper presents a hybrid intelligent algorithm for path planning and trajectory-tracking control of a wheeled mobile robot (WMR). By using the proposed controller, the WMR can successfully finish the object of trajectory-tracking. First of all, we use D* Lite algorithm to determine the shortest path between the initial position and the destination position for the WMR. Then by using the proposed controller, the WMR can move along the path and arrive at the destination successfully. The controller is divided in two parts, which are kinematic controller and dynamic controller. The asymptotic stability of both kinematic and dynamic controllers is proven by Lyapunov theory. Finally, experiments show that this method can achieve good results.
UR - http://www.scopus.com/inward/record.url?scp=84887458143&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84887458143&partnerID=8YFLogxK
U2 - 10.1109/ICSSE.2013.6614658
DO - 10.1109/ICSSE.2013.6614658
M3 - Conference contribution
AN - SCOPUS:84887458143
SN - 9781479900091
SP - 195
EP - 199
BT - ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
ER -