Design and implementation of adaptive dynamic controllers for wheeled mobile robots

Yi Feng Kao, Yi Hsing Chien, I. Hsum Li, Wei-Yen Wang, Tsu Tian Lee

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

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 languageEnglish
Title of host publicationICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
Pages195-199
Number of pages5
DOIs
Publication statusPublished - 2013 Nov 18
EventIEEE International Conference on System Science and Engineering, ICSSE 2013 - Budapest, Hungary
Duration: 2013 Jul 42013 Jul 6

Other

OtherIEEE International Conference on System Science and Engineering, ICSSE 2013
CountryHungary
CityBudapest
Period13/7/413/7/6

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Kao, Y. F., Chien, Y. H., Li, I. H., Wang, W-Y., & Lee, T. T. (2013). Design and implementation of adaptive dynamic controllers for wheeled mobile robots. In ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings (pp. 195-199). [6614658] https://doi.org/10.1109/ICSSE.2013.6614658