Adaptive control method for path tracking of wheeled mobile robot considering parameter changes

Wang, Yina; Wang, Shuoyu; Tan, Renpeng; Jiang, Yinlai

doi:10.1504/ijamechs.2012.045499

Cited by 5 publications

(4 citation statements)

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“…However, fuzzy controllers cannot be totally summarized for influence by the subjective factors of a person, in addition, the steady state error is hard to be eliminated, and this affects the quality of control. The optimization algorithms, which do not need to consider the dynamic equations and have excellent characteristics, must be good and while hardware platform is strong enough so that convergence speed keeps up with the motion of the robot [13][14][15]. In this paper, an intelligent hybrid fuzzy PID controller for steering purpose and fuzzy controller for efficient velocity of robot are introduced.…”

Section: Figure 1 Wheeled-drive Mobile Robot Prototypementioning

confidence: 99%

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Vision Based Autonomous Path/Line Following of a Mobile Robot Using a Hybrid Fuzzy PID Controller

Thuy¹,

Cường²

2016

Tuyển Tập Công Trình HNKH Toàn Quốc Lần Thứ 3 Về Điều Khiển &Amp; Tự Động Hoá VCCA - 2015

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Hội nghị toàn quốc lần thứ 3 về Điều khiển và Tự động hoá -VCCA-2015 VCCA-2015Rôbốt di động bám quỹ đạo tự động dựa trên xử lý ảnh sử dụng bộ điều khiển lai PID-mờ Tóm tắtTrong bài báo này, chúng tôi đề xuất một phương pháp điều khiển cho robốt tự hành để bám quỹ đạo cho trước trong môi trường trong nhà. Để bám được theo quỹ đạo, các kỹ thuật sử dụng logíc mờ với thông tin đầu vào từ hệ thống xử lý ảnh đã được nghiên cứu và áp dụng. Phương pháp điều khiển sử dụng trong hệ thống là sự kết hợp giữa bộ điều khiển lái -bộ điều khiển lai PID-mờ, và bộ điều khiển vận tốc tuyến tính -bộ điều khiển mờ. Để khẳng định tính đúng đắn của giải thuật điều khiển, chúng tôi đã tiến hành thử nghiệm trên một robốt tự hành, robốt thiết kế dựa trên cơ sở các linh kiện sẵn có trên thị trường. Thử nghiệm chỉ ra rằng, robốt sử dụng giải thuật chúng tôi đề xuất bám tốt theo quỹ đạo cho trước -bao gồm cả quỹ đạo cong và quỹ đạo thẳng. Từ khóa: Hệ thống điều khiển, robốt tự hành, hệ thống xử lý ảnh, logíc mờ, bộ điều khiển lái, bộ điều khiển tốc độ. AbstractIn this work, we propose a method for autonomous path/line following of differential-drive wheeled robot to track straight and curved paths in an indoor environment. In order to follow the path/line, fuzzy logic techniques are applied to generate movement with the information extracted from vision system. The control method in the system combines a steering controller, which is implemented by an intelligent hybrid fuzzy PID controller, controlling the steering angle of the robot, and fuzzy velocity controller, which controls the forward linear velocity with the purpose of safe tracking. We do experiments using an open source differential-drive wheeled robot platform (Figure 1). In the experiments, the robot is successfully able to follow a pre-defined path/line containing both straight and curved sections. The effectiveness of the control algorithm, combining steering and velocity controllers, is examined in these experiments. Keywords: Control systems, vision system, fuzzy logic, steering controller, velocity controller. List of Symbols

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Section: Figure 1 Wheeled-drive Mobile Robot Prototypementioning

confidence: 99%

“…In addition, the wheels are non-deformable and roll without lateral sliding. At the point P(x, y), the kinematic equations describing the model of the mobile robot are given as follows [15,16]: As a result, the robot can be controlled by the parameters ω l and ω r , which are the angular velocities of the wheels of the robot.…”

Section: Vcca-2011mentioning

confidence: 99%

Vision Based Autonomous Path/Line Following of a Mobile Robot Using a Hybrid Fuzzy PID Controller

Thuy¹,

Cường²

2016

Tuyển Tập Công Trình HNKH Toàn Quốc Lần Thứ 3 Về Điều Khiển &Amp; Tự Động Hoá VCCA - 2015

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“…Robots follow a desired trajectory generated by a virtual mobile robot based on its kinematic model and initial posture, which can navigate the mobile robot to the desired position. This tracking problem has been studied by many researchers, and there are a lot of control strategies are proposed for mobile robots, such as model predict control (MPC) [20][21][22], sliding mode control (SMC) [23][24][25][26], fuzzy control [27][28][29], adaptive control [30][31][32], and intelligent control [33,34], etc. However, most of them studied the trajectory tracking problem under the assumption that the movement of the robot is in an obstacle-free environment.…”

Section: Introductionmentioning

confidence: 99%

A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments

Sun

Chen

2019

Electronics

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The obstacle avoidance control of mobile robots has been widely investigated for numerous practical applications. In this study, a control scheme is presented to deal with the problem of trajectory tracking while considering obstacle avoidance. The control scheme is simplified into two controllers. First, an existing trajectory tracking controller is used to track. Next, to avoid the possible obstacles in the environment, an obstacle avoidance controller, which is used to determine the fastest collision avoidance direction to follow the boundary of the obstacle at a constant distance, is proposed based on vector relationships between the robot and an obstacle. Two controllers combined via a switch strategy are switched to perform the task of trajectory tracking or obstacle avoidance. The stability of each controller in the control scheme is guaranteed by a Lyapunov function. Finally, several simulations are conducted to evaluate the proposed control scheme. The simulation results indicate that the proposed scheme can be applied to the mobile robot to ensure its safe movement in unknown obstacle environments.

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“…Wang et al (2012) treat the problem of robust path tracking when uncertainties in the robot system parameters exist, but we suppose that their method is not suitable enough for real-time applications. Using active landmarks (Alhmiedat and Yang, 2008;Ishii et al, 2010) where the robot automatically places them while exploring its environment is another promising method for increasing the robot positioning accuracy.…”

Section: Introductionmentioning

confidence: 99%

Localisation and position correction for mobile robot using artificial visual landmarks

Kroumov

Okuyama

2012

IJAMECHS

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This paper presents some preliminary results in terms of improving the precision in localisation and position correction of mobile robot. The visual simultaneous localisation and mapping (vSLAMr) algorithm is used for robot navigation. Artificial landmarks are used to improve the positioning of the robot. Experimental results show that, compared to other techniques, the proposed method has several advantages and can improve the robot localisation and position calibration when vSLAM algorithm is used.

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Adaptive control method for path tracking of wheeled mobile robot considering parameter changes

Cited by 5 publications

References 0 publications

Vision Based Autonomous Path/Line Following of a Mobile Robot Using a Hybrid Fuzzy PID Controller

Vision Based Autonomous Path/Line Following of a Mobile Robot Using a Hybrid Fuzzy PID Controller

A Multi-Switching Tracking Control Scheme for Autonomous Mobile Robot in Unknown Obstacle Environments

Localisation and position correction for mobile robot using artificial visual landmarks

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