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
Y1 - 2013
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
T3 - ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
SP - 195
EP - 199
BT - ICSSE 2013 - IEEE International Conference on System Science and Engineering, Proceedings
T2 - IEEE International Conference on System Science and Engineering, ICSSE 2013
Y2 - 4 July 2013 through 6 July 2013
ER -