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

*Corresponding author for this work

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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.

Original languageEnglish
Pages (from-to)593-600
Number of pages8
JournalJournal of Zhejiang University: Science C
Volume13
Issue number8
DOIs
Publication statusPublished - Aug 2012

Keywords

  • Global trajectory
  • Iterative linear quadratic regulator (ILQR)
  • Kinematic model
  • Lattice planner
  • Trajectory tracking controller

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Zhang, H. J., Gong, J. W., Jiang, Y., Xiong, G. M., & Chen, H. Y. (2012). An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot. Journal of Zhejiang University: Science C, 13(8), 593-600. https://doi.org/10.1631/jzus.C1100379