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

doi:10.1109/ICSSE.2013.6614658

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

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 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	https://doi.org/10.1109/ICSSE.2013.6614658
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

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

Kao, YF, Chien, YH, Li, IH, Wang, W-Y & Lee, TT 2013, Design and implementation of adaptive dynamic controllers for wheeled mobile robots. in ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings., 6614658, pp. 195-199, IEEE International Conference on System Science and Engineering, ICSSE 2013, Budapest, Hungary, 13/7/4. https://doi.org/10.1109/ICSSE.2013.6614658

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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.

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Access to Document

10.1109/ICSSE.2013.6614658