An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot

Hao-jie ZHANG; Jian-wei GONG; Yan JIANG; Guang-ming XIONG; Hui-yan CHEN

doi:10.1631/jzus.C1100379

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An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot

计算机与自动化 | Updated：2022-12-09

- 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
- 信息与电子工程前沿（英文） 2012年13卷第8期页码：593-600
- 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：
  
  Project (Nos. 90920304 and 91120015) supported by the National Natural Science Foundation of China
- DOI：10.1631/jzus.C1100379
  中图分类号： TP242.6
- 收稿：2011-12-26，
  
  修回：2012-;7-;6，
  
  纸质出版：2012-08
- Accepted：
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An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot[J]. 信息与电子工程前沿（英文）, 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.
An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot[J]. 信息与电子工程前沿（英文）, 2012,13(8):593-600. DOI： 10.1631/jzus.C1100379.

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 (

) 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 (

) 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

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