NDLI: Trajectory Tracking and Obstacle Avoidance of Car-Like Mobile Robots in an Intelligent Space Using Mixed <formula formulatype=inline><tex>$H_{2}/H_{infty}$</tex> </formula> Decentralized Control

Content Provider	IEEE Xplore Digital Library
Author	Chih-Lyang Hwang Li-Jui Chang
Copyright Year	1996
Abstract	In this paper, the trajectory tracking and obstacle avoidance of a car-like mobile robot (CLMR) within an intelligent space via mixed H₂/H_infin decentralized control is developed. To obtain obstacle avoidance and trajectory tracking, two distributed charge-coupled device (CCD) cameras are established to realize the pose of the CLMR and the position of the obstacle. Based on the authority of these two CCD cameras, a suitable reference command for the proposed controller of the CLMR is planned online by the information of the CCD camera with higher authority. Many of the problems encountered by classic mobile robots are solved. Because an arbitrarily smooth trajectory can be approximated by a set of piecewise lines, the trajectory tracking of the piecewise line is addressed. The features of the proposed control are smaller energy consumption with bounded tracking error, attenuation of output disturbance, and improvement of control performance. The overall system contains two processors (i.e., personal computer and digital signal processor) with multiple sampling rates. Finally, a sequence of experiments including the comparison among the proposed control, PID control, different microprocessor control system, and different initial poses are carried out to confirm the usefulness of the suggested control system.
Starting Page	345
Ending Page	352
Page Count	8
File Size	619122
File Format	PDF
ISSN	10834435
Volume Number	12
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Mobile robots Intelligent robots Control systems Charge coupled devices Robot vision systems Charge-coupled image sensors Cameras Distributed control Energy consumption trajectory tracking Car-like mobile robot decentralized control intelligent space mixed $H_{2}/H_{\infty}$ optimization microprocessor control obstacle avoidance
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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