Control parameter design for robot vehicle based on numerical simulation and heuristic optimization - Feed-back controller design for trajectory tracking under strict physical constraints in wide speed range

Atsushi Watanabe, Akihisa Ohya, Shin'ichi Yuta

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

For the construction of the mobile robot system, it is necessary to determine a lot of parameters like the feedback gain and the clip parameters of artificial saturation. And it is difficult to decide suitable parameters by analytical technique because of its non-linearity and complexity. In this paper, we propose the method of the mobile robot control system parameter design by a numerical simulation and heuristic optimization using the enough computer power. We describe the model of the system as iterative numerical calculation instead of analytical time function. This model can suit the real control system, and it is straightforward to be built. And we show the experimental results of the automatically decided feedback gains by using proposed method for the linear feedback trajectory tracking controller of the small-sized autonomous mobile robot system, which runs in relatively high speed up to 5 meters per second as an example.

本文言語English
ホスト出版物のタイトルIEEE SSCI 2011 - Symposium Series on Computational Intelligence - CICA 2011 - 2011 IEEE Symposium on Computational Intelligence in Control and Automation
ページ137-142
ページ数6
DOI
出版ステータスPublished - 2011 8 11
イベントSymposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2011 - Paris, France
継続期間: 2011 4 112011 4 15

出版物シリーズ

名前IEEE SSCI 2011 - Symposium Series on Computational Intelligence - CICA 2011 - 2011 IEEE Symposium on Computational Intelligence in Control and Automation

Other

OtherSymposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2011
国/地域France
CityParis
Period11/4/1111/4/15

ASJC Scopus subject areas

  • 人工知能
  • 制御およびシステム工学

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