NDLI: Control parameter design for robot vehicle based on numerical simulation and heuristic optimization - Feed-back controller design for trajectory tracking under strict physical constraints in wide speed range -

Content Provider	IEEE Xplore Digital Library
Author	Watanabe, A. Ohya, A. Yuta, S.
Copyright Year	2011
Description	Author affiliation: University of Tsukuba, Graduate School of Systems and Information Engineering, Ibaraki, Tennoudai 1-1-1, Japan (Watanabe, A.; Ohya, A.; Yuta, S.)
Abstract	For the construction of the mobile robot system, it is necessary to determine a lot of parameters like the feedback gain and the clip parameters of artificial saturation. And it is difficult to decide suitable parameters by analytical technique because of its non-linearity and complexity. In this paper, we propose the method of the mobile robot control system parameter design by a numerical simulation and heuristic optimization using the enough computer power. We describe the model of the system as iterative numerical calculation instead of analytical time function. This model can suit the real control system, and it is straightforward to be built. And we show the experimental results of the automatically decided feedback gains by using proposed method for the linear feedback trajectory tracking controller of the small-sized autonomous mobile robot system, which runs in relatively high speed up to 5 meters per second as an example.
Starting Page	137
Ending Page	142
File Size	251411
Page Count	6
File Format	PDF
ISBN	9781424499021
e-ISBN	9781424499038
DOI	10.1109/CICA.2011.5945752
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-04-11
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Trajectory Mobile robots Acceleration Indexes Optimization
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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