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
收藏
页码：240 / 251
页数：12
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