- About EITEE
- Articles Online
- For Authors
- For Reviewers
- Features
- Subscription & Service
- Personal Center
- Logout
FOLLOWUS
- About EITEE
- Introduction
- Editorial Board
- Corresponding Experts
- Events
- Honors
- Contact Us
- Articles Online
- Current Issue
- Archive
- Special Issues
- Virtual Issues
- Highlights
- In Press
- For Authors
- Submit
- Call for papers
- Guide for Authors
- Ethics & Disclosures
- Fee & Funding
- Downloads
- For Reviewers
- Guide for Reviewers
- Ethics & Disclosures
- Thanks card
- Features
- FITEE Forum
- Engineering Front
- Paper Videos
- Editors’ Corner
- Other Resources
- Subscription & Service
- Subscription
- Services
An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot
- An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot
- Frontiers of Information Technology & Electronic Engineering Vol. 13, Issue 8, Pages: 593-600(2012)
- Affiliations：
Intelligent Vehicle Research Center, Beijing Institute of Technology, Beijing 100081, China
- Author bio：
[ "Hao-jie ZHANG, E-mail: haojie.bit@gmail.com" ]
Jian-wei GONG, E-mail:gjwmit@gmail.com
- Funds：
DOI：10.1631/jzus.C1100379
CLC： TP242.6Received：26 December 2011，
Revised：2012-;7-;6，
Published：2012-08
- Accepted：
Scan QR Code
Hao-jie ZHANG, Jian-wei GONG, Yan JIANG, et al. An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot[J]. Frontiers of Information Technology & Electronic Engineering, 2012, 13(8): 593-600.
Hao-jie ZHANG, Jian-wei GONG, Yan JIANG, et al. An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot[J]. Frontiers of Information Technology & Electronic Engineering, 2012, 13(8): 593-600. DOI： 10.1631/jzus.C1100379.
摘要
Abstract
We present an iterative linear quadratic regulator (ILQR) method for trajectory tracking control of a wheeled mobile robot system. The proposed scheme involves a kinematic model linearization technique
a global trajectory generation algorithm
and trajectory tracking controller design. A lattice planner
which searches over a 3D (
x
y
θ
) configuration space
is adopted to generate the global trajectory. The ILQR method is used to design a local trajectory tracking controller. The effectiveness of the proposed method is demonstrated in simulation and experiment with a significantly asymmetric differential drive robot. The performance of the local controller is analyzed and compared with that of the existing linear quadratic regulator (LQR) method. According to the experiments
the new controller improves the control sequences (
v
ω
) iteratively and produces slightly better results. Specifically
two trajectories
'S' and '8' courses
are followed with sufficient accuracy using the proposed controller.
关键词
Keywords
references
S. Arimoto . . Control Theory of Nonlinear Mechanical Systems: a Passivity-Based and Circuit-Theoretic Approach , , Clarendon Press , , : : Oxford, UK 1996 . . .
L. Astudillo , , , O. Castillo , , , L.T. Aguilar , , , R. Martínez . . Hybrid control for an autonomous wheeled mobile robot under perturbed torques . . LNCS , , 2007 . . 4529 594 - - 603 . . DOI: 10.1007/978-3-540-72950-1_59 http://doi.org/10.1007/978-3-540-72950-1_59 . .
O. Castillo , , , L.T. Aguilar , , , S. Cardenas . . Fuzzy logic tracking control for unicycle mobile robots . . Eng. Lett. , , 2006 . . 13 ( ( 2 ): ): 73 - - 77 . . . .
A.W. Divelbiss , , , J.T. Wen . . Trajectory tracking control of a car-trailer system . . IEEE Trans. Control Syst. Technol. , , 1997 . . 5 ( ( 3 ): ): 269 - - 278 . . DOI: 10.1109/87.572125 http://doi.org/10.1109/87.572125 . .
I. Kolmanovsky , , , N.H. McClamroch . . Developments in nonholonomic control systems . . IEEE Control Syst. Mag. , , 1995 . . 15 ( ( 6 ): ): 20 - - 36 . . DOI: 10.1109/37.476384 http://doi.org/10.1109/37.476384 . .
U. Kumar , , , N. Sukaranam . . Backstepping based trajectory tracking control of a four wheeled mobile robot . . Int. J. Adv. Robot. Syst. , , 2008 . . 5 ( ( 4 ): ): 403 - - 410 . . . .
S.H. Li , , , Y.P. Tian . . Trajectory tracking control of mobile vehicle . . Control Dec. , , 2000 . . 15 ( ( 5 ): ): 626 - - 628 . . . .
M. Likhachev , , , D. Ferguson . . Planning long dynamically feasible maneuvers for autonomous vehicles . . Int. J. Robot. Res. , , 2009 . . 28 ( ( 8 ): ): 933 - - 945 . . DOI: 10.1177/0278364909340445 http://doi.org/10.1177/0278364909340445 . .
A.R. Luca , , , M.D. Benedetto . . Control of nonholonomic systems via dynamic compensation . . Kybernetica , , 1993 . . 29 ( ( 6 ): ): 593 - - 608 . . . .
R. Martínez , , , O. Castillo , , , L.T. Aguilar . . Optimization of interval type-2 fuzzy logic controllers for a perturbed autonomous wheeled mobile robot using genetic algorithms . . Inf. Sci. , , 2009 . . 179 ( ( 13 ): ): 2158 - - 2174 . . DOI: 10.1016/j.ins.2008.12.028 http://doi.org/10.1016/j.ins.2008.12.028 . .
P. Morin , , , C. Samson . . Practical Stabilization of a Class of Nonlinear Systems . . Application to Chained Systems and Mobile Robots. Proc. 39th IEEE Conf. on Decision Control , , 2000 . . p.2989 - - 2994 . . DOI: 10.1109/CDC.2000.914274 http://doi.org/10.1109/CDC.2000.914274 . .
G. Narvydas , , , R. Simutis , , , V. Raudonis . . Autonomous Mobile Robot Control Using Fuzzy Logic and Genetic Algorithm . . 4th IEEE Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications , , 2007 . . p.460 - - 464 . . DOI: 10.1109/IDAACS.2007.4488460 http://doi.org/10.1109/IDAACS.2007.4488460 . .
G. Oriolo , , , A. de Luca , , , M. Vendittelli . . WMR control via dynamic feedback linearization: design, implementation and experimental validation . . IEEE Trans. Control Syst. Technol. , , 2002 . . 10 ( ( 6 ): ): 835 - - 852 . . DOI: 10.1109/TCST.2002.804116 http://doi.org/10.1109/TCST.2002.804116 . .
M. Pivtoraiko , , , A. Kelly . . Generating Near Minimal Spanning Control Sets for Constrained Motion Planning in Discrete State Spaces . . IEEE/RSJ Int. Conf. on Intelligent Robots and Systems , , 2005 . . p.3231 - - 3237 . . DOI: 10.1109/IROS.2005.1545046 http://doi.org/10.1109/IROS.2005.1545046 . .
M. Pivtoraiko , , , R.A. Knepper , , , A. Kelly . . Differentially constrained mobile robot motion planning in state lattices . . J. Field Robot. , , 2009 . . 26 ( ( 3 ): ): 308 - - 333 . . DOI: 10.1002/rob.20285 http://doi.org/10.1002/rob.20285 . .
C. Samson . . Time-varying feedback stabilization of car-like mobile robots . . Int. J. Robot. Res. , , 1993 . . 12 ( ( 1 ): ): 55 - - 64 . . DOI: 10.1177/027836499301200104 http://doi.org/10.1177/027836499301200104 . .
J.J.E. Slotine , , , W. Li . . On the adaptive control of robot manipulators . . Int. J. Robot. Res. , , 1987 . . 6 ( ( 3 ): ): 49 - - 59 . . DOI: 10.1177/027836498700600303 http://doi.org/10.1177/027836498700600303 . .
P. Tomei . . Robust adaptive friction compensation for tracking control of robot manipulators . . IEEE Trans. Autom. Control , , 2000 . . 45 ( ( 11 ): ): 2164 - - 2169 . . DOI: 10.1109/9.887661 http://doi.org/10.1109/9.887661 . .
J. Velagic , , , N. Osmic , , , B. Lacevic . . Neural network controller for mobile robot motion control . . World Acad. Sci. Eng. Technol. , , 2008 . . 47 193 - - 198 . . . .
G. Walsh , , , D. Tilbury , , , S. Sastry , , , R. Murray , , , J.P. Laumond . . Stabilization of trajectories for systems with nonholonomic constraints . . IEEE Trans. Autom. Control , , 1994 . . 39 ( ( 1 ): ): 216 - - 222 . . DOI: 10.1109/9.273373 http://doi.org/10.1109/9.273373 . .
L.L. Whitcomb , , , S. Arimoto , , , T. Naniwa , , , F. Ozaki . . Experiments in adaptive model-based robot force control . . IEEE Control Syst. Mag. , , 1996 . . 16 ( ( 1 ): ): 49 - - 57 . . DOI: 10.1109/37.482150 http://doi.org/10.1109/37.482150 . .
- L-PDFDownload
- Meta-XMLDownload
- BibTeXDownload
- EndnoteDownload
- RefMan Download
- NoteExpressDownload
- NoteFirstDownload
Publicity Resources
Related Articles
Related Author
Related Institution
Chat- Address：Zhejiang University Press, 148 Tianmushan Road, Hangzhou, China Postal code：310028
- Tel：+86-571-88273162 Email：fitee@zju.edu.cn
- Copyright © 2000 - 2025, Zhejiang University Press 京ICP备09064830号-19
京公网安备11010802024621 - It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
- Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.
