Optimal tracking control of a nonholonomic mobile robot

Author

Park, K.H. ; Cho, S.B. ; Lee, Y.W.

Author_Institution

Dept. of Electr. Eng., Dong-Eui Univ., Busan, South Korea

Volume

3

fYear

2001

fDate

2001

Firstpage

2073

Abstract

The position control problem of a nonholonomic mobile robot has been an important class of control problem. It receives a task from a human operator, and must perform the given task in the environment including a lot of obstacles such as human bodies and other robots. Therefore the mobile robot must perform given tasks and path planning by itself. In this paper we discuss an intelligent tracking control of navigating a mobile robot in an unknown environment. Through suggested intelligent control, a mobile robot is able to perform minimization of the distance to the moving goal by online motion planning from actual sensor data. Simulation shows the effectiveness of accurate tracking capability and the robust performance of proposed scheme

Keywords

intelligent control; mobile robots; optimal control; path planning; position control; robot kinematics; distance to moving goal minimisation; human operator; intelligent tracking control; mobile robot navigation; nonholonomic mobile robot; online motion planning; optimal tracking control; path planning; position control; robust performance; sensor data; tracking capability; Humans; Intelligent control; Intelligent robots; Intelligent sensors; Mobile robots; Motion planning; Navigation; Optimal control; Path planning; Position control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on

Conference_Location

Pusan

Print_ISBN

0-7803-7090-2

Type

conf

DOI

10.1109/ISIE.2001.932035

Filename

932035