Line following control of two wheeled vehicle by symbolic controller

Author

Konaka, Eiji ; Suzuki, Tatsuya ; Okuma, Shigeru

Author_Institution

Graduate Sch. of Electr. Eng., Nagoya Univ., Japan

Volume

1

fYear

2001

fDate

2001

Firstpage

514

Abstract

Hybrid dynamical systems (HDS), which contain both discrete logical symbol and continuous signal, are attracting great attention in the field of system control. In this paper, a new symbol based control strategy for a line following control of a two wheeled vehicle is proposed. The vehicle is supposed to have a low-resolution sensor and actuator. The control requirement, however, is specified so as to keep the vehicle as close as possible to the center of the line. The controllability and observability issues are investigated, and a concrete control policy based on the continuous state estimation is proposed. Experimental result is shown to demonstrate the usefulness of our idea

Keywords

controllability; observability; position control; state estimation; symbol manipulation; vehicles; HDS; continuous signal; continuous state estimation; controllability; discrete logical symbol; hybrid dynamical systems; line following control; low-resolution actuator; low-resolution sensor; observability; symbol based control strategy; symbolic controller; two wheeled vehicle; Concrete; Control systems; Controllability; Gravity; Logic; Programmable control; Space vehicles; State estimation; Vehicle detection; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.980153

Filename

980153