An iterative learning control technique for mobile robot path-tracking control

被引：9

作者：

Moore, KL ^{[1
]}

Bahl, V ^{[1
]}

机构：

[1] Utah State Univ, Ctr Self Organizing & Intelligent Syst, Logan, UT 84322 USA

来源：

MOBILE ROBOTS XIV | 1999年 / 3838卷

关键词：

iterative learning control; path-tracking; omni-directional vehicle; autonomous mobile robots;

D O I：

10.1117/12.369258

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Iterative learning control (ILC) is a technique for using repetitive operation to derive the input commands needed to force a dynamical system to follow a prescribed trajectory. In this paper we describe ideas towards the use of ILC for path-tracking control of a mobile robot. The work is focused on a novel robotic platform, the Utah State University (USU) Omni-Directional Vehicle (ODV), which features six "smart wheels," each of which has independent control of both speed and direction. Using a validated dynamic model of the ODV robot, it is shown that ILC can be used to learn the nominal input commands needed force the robot to track a prescribed path in inertial space.

引用

页码：240 / 251

页数：12

共 9 条

[1] BETTERING OPERATION OF ROBOTS BY LEARNING [J].

ARIMOTO, S ;

KAWAMURA, S ;

MIYAZAKI, F .

JOURNAL OF ROBOTIC SYSTEMS, 1984, 1 (02) :123-140

[2]

MOORE K, 1999, UNP P 38 IEEE C DEC

[3]

MOORE K, 1999, 1999 IEEE INT S INT

[4]

Moore K. L., 1993, ADV IND CONTROL

[5]

Moore KL, 1998, IEEE DECIS CONTR P, P666, DOI 10.1109/CDC.1998.760760

[6]

MOORE KL, 1998, APPL COMPUTATIONAL C, V1

[7]

POULSON, 1988, SPIE C ROB SEM ROB G, V3366, P68

[8]

Wong J.Y., 1978, THEORY GROUND VEHICL

[9]

XU JX, 1997, P 2 AS CONTR C SEOUL

← 1 →