Trajectory Tracking Control of Mobile Robot by Fluid Model

被引：0
|
作者：
Miyata, Junichi [1 ]
Murakami, Toshiyuki [1 ]
机构：
[1] Keio Univ, Tokyo 108, Japan
来源：
ELECTRONICS AND COMMUNICATIONS IN JAPAN | 2008年 / 91卷 / 05期
关键词：
mobile robot; spline approach; path planning; fluid model;
D O I：
10.1002/ecj.10114
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper describes a fluid model-based path planning of mobile robot. In previous research, the authors proposed TBSA (Time-Based Spline Approach) for smooth motion of industrial robots [1]. The TBSA is a powerful method in industrial applications, but the future position and velocity commands must be known to use it. In the general applications of repeat motion, this assumption is acceptable. In the path planning of a mobile robot, however, the future position and velocity commands are unknown. To address the above issue, a strategy to generate the path of a mobile robot based on the fluid model is proposed in this paper. The combination of the TBSA and the generated path by the fluid model brings a smooth motion of mobile robots. (c) 2008 Wiley Periodicals, Inc. Electron Comm Jpn, 91(5):41-48,2008; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/ecj.10114
引用
收藏
页码：41 / 48
页数：8
相关论文
共 50 条
  • [1] Trajectory tracking control of mobile robot by fluid model
    Miyata, Junichi
    Murakami, Toshiyuki
    [J]. IEEJ Transactions on Industry Applications, 2007, 127 (03) : 315 - 321
  • [2] Trajectory tracking control of mobile robot by fluid model
    Miyata, Junichi
    Murakami, Toshiyuki
    [J]. Electronics and Communications in Japan, Part II: Electronics (English translation of Denshi Tsushin Gakkai Ronbunshi), 2008, 91 (05): : 41 - 48
  • [3] Dynamic Trajectory Tracking Control of Mobile Robot
    Fan, Longtao
    Zhang, Yuanheng
    Zhang, Sen
    [J]. 2018 5TH INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND CONTROL ENGINEERING (ICISCE 2018), 2018, : 728 - 732
  • [4] Model Predictive Control of Trajectory Tracking of Differentially Steered Mobile Robot
    Sharma, K. Rahul
    Honc, Daniel
    Dusek, Frantisek
    [J]. INTELLIGENT DATA ANALYSIS AND APPLICATIONS, 2015, 370 : 85 - 95
  • [5] Trajectory Tracking Control of a Mobile Robot with Model Predictive Controller and Observer
    Dogruer, C. U.
    [J]. 2019 IEEE 7TH INTERNATIONAL CONFERENCE ON CONTROL, MECHATRONICS AND AUTOMATION (ICCMA 2019), 2019, : 179 - 184
  • [6] Adaptive trajectory tracking control method of mobile robot
    Li, Kun-Peng
    Wang, Sun-An
    Guo, Zi-Long
    [J]. Xitong Fangzhen Xuebao / Journal of System Simulation, 2008, 20 (10): : 2575 - 2578
  • [7] Adaptive Trajectory Tracking Control for a Nonholonomic Mobile Robot
    Cao Zhengcai
    Zhao Yingtao
    Wu Qidi
    [J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2011, 24 (04) : 546 - 552
  • [8] Adaptive Trajectory Tracking Control of Wheeled Mobile Robot
    Shen, Xiao
    Shi, Wuxi
    [J]. PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019), 2019, : 5161 - 5165
  • [9] Adaptive Fuzzy Control for Trajectory Tracking of Mobile Robot
    Liang, Yuming
    Xu, Lihong
    Wei, Ruihua
    Hu, Haigen
    [J]. IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, : 4755 - 4760
  • [10] Trajectory tracking control of mobile robot with parameter uncertainties
    Gu W.-L.
    Hu Y.-F.
    Gong X.
    Cai S.
    Chen H.
    [J]. Kongzhi yu Juece/Control and Decision, 2019, 34 (01): : 81 - 88
12345