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

研究成果: 書貢獻/報告類型會議論文篇章

2 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
主出版物標題ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
頁面195-199
頁數5
DOIs
出版狀態已發佈 - 2013 十一月 18
事件IEEE International Conference on System Science and Engineering, ICSSE 2013 - Budapest, 匈牙利
持續時間: 2013 七月 42013 七月 6

其他

其他IEEE International Conference on System Science and Engineering, ICSSE 2013
國家/地區匈牙利
城市Budapest
期間2013/07/042013/07/06

ASJC Scopus subject areas

  • 控制與系統工程

指紋

深入研究「Design and implementation of adaptive dynamic controllers for wheeled mobile robots」主題。共同形成了獨特的指紋。

引用此