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 50 条

[1] Kinematic path-tracking of mobile robot using iterative learning control
Kang, MK
Lee, AS
Han, KL
[J]. JOURNAL OF ROBOTIC SYSTEMS, 2005, 22 (02): : 111 - 121
[2] Path-tracking of Mobile Robot Using PD-type Iterative Learning Control with Forgetting Factor
Zhang, Tao
Fang, Jingzhe
Teng, Yun
Wang, Xintong
Zhang, Yiqiang
Chen, Xiyou
[J]. 2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC, 2023, : 864 - 869
[3] Path-Tracking of Service Robot with Iterative Learning Control in Perspective Dynamic System
Wang Yugang
Zhou Fengyu
Li Ming
Zhao Yang
[J]. 2017 CHINESE AUTOMATION CONGRESS (CAC), 2017, : 7855 - 7859
[4] A simple structure iterative learning algorithm experimentally validated for mobile robot path-tracking
Maniarski, Robert
Paszke, Wojciech
Rogers, Eric
[J]. 2019 AMERICAN CONTROL CONFERENCE (ACC), 2019, : 2221 - 2226
[5] Modeling and path-tracking control of a mobile wheeled robot with a differential drive
DeSantis, R.M.
[J]. Robotica, 1995, 13 (pt 4): : 401 - 410
[6] MODELING AND PATH-TRACKING CONTROL OF A MOBILE WHEELED ROBOT WITH A DIFFERENTIAL DRIVE
DESANTIS, RM
[J]. ROBOTICA, 1995, 13 : 401 - 410
[7] A novel iterative learning path-tracking control for nonholonomic mobile robots against initial shifts
Zhao, Yang
Zhou, Fengyu
Li, Yan
Wang, Yugang
[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2017, 14 (03):
[8] Predictive Control Strategy Based on Extreme Learning Machine for Path-Tracking of Autonomous Mobile Robot
Yang, Yimin
Lin, Xiaofeng
Miao, Zhiqiang
Yuan, Xiaofang
Wang, Yaonan
[J]. INTELLIGENT AUTOMATION AND SOFT COMPUTING, 2015, 21 (01): : 1 - 19
[9] Path-tracking of Mobile Robot Using Feedback-aided P-type Iterative Learning Control against Initial State Error
Zhao, Yang
Zhou, Fengyu
Wang, Da
Li, Yan
[J]. 2017 6TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS (DDCLS), 2017, : 587 - 592
[10] ATTACK-RESILIENT OBSERVER PRUNING FOR PATH-TRACKING CONTROL OF WHEELED MOBILE ROBOT
Zheng, Yu
Anubi, Olugbenga Moses
[J]. PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE, DSCC2020, VOL 2, 2020,

← 1 2 3 4 5 →