Hybrid Intelligent Algorithm for Indoor Path Planning and Trajectory-Tracking Control of Wheeled Mobile Robot
| Autor: | Yi-Feng Kao, I-Hsum Li, Wei-Yen Wang, Yi-Hsing Chien |
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| Rok vydání: | 2016 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Computer science Mobile robot 02 engineering and technology Kinematics Fuzzy control system Fuzzy logic Theoretical Computer Science symbols.namesake 020901 industrial engineering & automation Computational Theory and Mathematics Artificial Intelligence Control theory 0202 electrical engineering electronic engineering information engineering symbols Trajectory 020201 artificial intelligence & image processing Motion planning Algorithm Software |
| Zdroj: | International Journal of Fuzzy Systems. 18:595-608 |
| ISSN: | 2199-3211 1562-2479 |
| Popis: | This paper presents a hybrid intelligent algorithm for a wheeled mobile robot (WMR) to implement both trajectory-tracking and path-following navigation missions. The novel control scheme combining the kinematic with TSK fuzzy control is developed to track the desired position, linear, and angular velocities, even though the WMR suffers from system uncertainties and disturbances. The proposed TSK fuzzy controller deals with a general dynamic model and has a good ability of disturbance rejection. For the path-following issue, the improved D* lite algorithm determines an appropriate path between an initial position and a destination. The derived path is transformed into a tracking trajectory by a function of time. The asymptotic stability of the overall system is proven by Lyapunov theory. Finally, real-time experiments with the use of the proposed hybrid intelligent algorithm on an eight-shaped reference trajectory and long-distance movement demonstrate the feasibility of practical WMR maneuvers. |
| Databáze: | OpenAIRE |
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