Title :
Path following control on moving robot for deep sea-bed mining
Author :
Chen, Yong ; Gui, Weihua ; Xie, Yongfang ; Yan, Feng
Author_Institution :
Sch. of Comput.&Electron. Eng., Hunan Bus. Coll., Changsha
Abstract :
To solve moving parameters identification problem for deep sea-bed mining robot, estimation model of key parameters is built after the discussion on robot dynamic model and hydraulic system. And a controller based on key parameters estimation model is presented to accomplish the path following task for deep sea-bed mining robot with assumption that the desired path is given. Experiment results on vehicle with simulation system show the effectiveness of the method.
Keywords :
mining; mobile robots; parameter estimation; path planning; underwater vehicles; deep sea-bed mining robot; hydraulic system; moving robot; path following control; path following task; robot dynamic; Centralized control; Educational institutions; Electronic mail; Information science; Intelligent control; Intelligent robots; Parameter estimation; Robot control; Robotics and automation; Vehicle dynamics; deep sea-bed; estimation of key parameters; mining robot; path following control;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4594054
