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

2 Citations (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
Event	IEEE International Conference on System Science and Engineering, ICSSE 2013 - Budapest, Hungary Duration: 2013 Jul 4 → 2013 Jul 6

Publication series

Name	ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings

Other

Other	IEEE International Conference on System Science and Engineering, ICSSE 2013
Country/Territory	Hungary
City	Budapest
Period	2013/07/04 → 2013/07/06

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/ICSSE.2013.6614658

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). Article 6614658 (ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings). https://doi.org/10.1109/ICSSE.2013.6614658

Design and implementation of adaptive dynamic controllers for wheeled mobile robots. / Kao, Yi Feng; Chien, Yi Hsing; Li, I. Hsum et al.
ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings. 2013. p. 195-199 6614658 (ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kao, YF, Chien, YH, Li, IH, Wang, WY & 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, ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings, pp. 195-199, IEEE International Conference on System Science and Engineering, ICSSE 2013, Budapest, Hungary, 2013/07/04. https://doi.org/10.1109/ICSSE.2013.6614658

Kao YF, Chien YH, Li IH, Wang WY, Lee TT. Design and implementation of adaptive dynamic controllers for wheeled mobile robots. In ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings. 2013. p. 195-199. 6614658. (ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings). doi: 10.1109/ICSSE.2013.6614658

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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.",

author = "Kao, {Yi Feng} and Chien, {Yi Hsing} and Li, {I. Hsum} and Wang, {Wei Yen} and Lee, {Tsu Tian}",

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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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Design and implementation of adaptive dynamic controllers for wheeled mobile robots

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