Abstract
In this paper, a precise trajectory tracking method for mobile robot using a vision system is presented. In solving the problem of precise trajectory tracking, a hierarchical control structure is used which is composed of the path planer, vision system, and dynamic controller. When designing the dynamic controller, non-ideal conditions such as parameter variation, frictional force, and external disturbance are considered. The proposed controller can learn bounded control input for repetitive or periodic dynamics compensation which provides robust and adaptive learning capability. Moreover, the usage of vision system makes mobile robot compensate for the cumulative location error which exists when relative sensor like encoder used to locate the mobile robot. The effectiveness of the proposed control scheme is shown through experiment as well as computer simulation.
| Original language | English |
|---|---|
| Pages (from-to) | 3514-3519 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Volume | 4 |
| State | Published - 1998 |
| Event | Proceedings of the 1998 IEEE International Conference on Systems, Man, and Cybernetics. Part 3 (of 5) - San Diego, CA, USA Duration: 11 Oct 1998 → 14 Oct 1998 |