The adaptive control for the Outdoor Mobile Robot with diameter-variable wheels

Author

Xiaolong Guan ; Peng Zhang ; Min Fang ; Ying Hu ; Jianwei Zhang

Author_Institution

Guangdong Provincial Key Lab. of Robot. & Intell. Syst., Shenzhen Inst. of Adv. Technol., Shenzhen, China

fYear

2014

fDate

28-30 July 2014

Firstpage

1096

Lastpage

1101

Abstract

The Outdoor Mobile Robot plays an important part in outdoor science exploration, community monitor and so on, and is becoming a research hotspot. On the basis of the outdoor mobile robot with diameter-variable wheels, this paper builds a motion control system which could control the movement of the outdoor mobile robot with diameter-variable wheels and creates an adaptive control model which could open and fold the wheel automatically according to the road condition. Then the mobile robot could run on the rough terrain and keep steadily on the mass centre margin. A series of simulation has been done for the adaptive control model, and the simulation results demonstrate that the adaptive control model is feasible.

Keywords

adaptive control; mobile robots; motion control; wheels; adaptive control model; diameter-variable wheels; motion control system; outdoor mobile robot; Adaptive control; Equations; Mathematical model; Mobile robots; Roads; Wheels; adaptive control; diameter-variable wheel; outdoor mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2014 IEEE International Conference on

Conference_Location

Hailar

Type

conf

DOI

10.1109/ICInfA.2014.6932813

Filename

6932813