DocumentCode :
3695414
Title :
A 3-level adaptive robust control strategy for autonomous mobile robots
Author :
Zheyu Deng;Bin Yao;Xiaocong Zhu;Qingfeng Wang
Author_Institution :
State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China
fYear :
2015
fDate :
6/1/2015 12:00:00 AM
Firstpage :
68
Lastpage :
73
Abstract :
This paper presents a three level adaptive robust control strategy for wheeled mobile robots (WMR) that provides a WMR the ability to move to targets in a known environment with the shortest path while avoiding obstacles. Specifically, in the upper-level, an improved binary tree algorithm is used to plan the shortest path to the targets with obstacle avoidances. In the middle-level, the desired forward and steering velocities that enable stable tacking of the planned path are synthesized based on the kinematic model of the WMR with the consideration of non-holonomic constrains. In the lower-level, based on the physical modeling and system identification of the WMR dynamics, an adaptive robust control (ARC) algorithm is developed to make sure that the WMR can actually deliver the desired velocities for path tracking even in the presence of parametric uncertainties and uncertain nonlinearities such as unknown friction disturbances and modeling errors. Comparative experimental results are also obtained to verify the effectiveness of the proposed control strategy in actual implementation.
Keywords :
"Binary trees","Robust control","Adaptation models","Friction","Angular velocity","Mobile robots","Uncertainty"
Publisher :
ieee
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2015 IEEE 10th Conference on
Type :
conf
DOI :
10.1109/ICIEA.2015.7334086
Filename :
7334086
Link To Document :
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