TY - JOUR
T1 - An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot
AU - Zhang, Hao Jie
AU - Gong, Jian Wei
AU - Jiang, Yan
AU - Xiong, Guang Ming
AU - Chen, Hui Yan
PY - 2012/8
Y1 - 2012/8
N2 - 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.
AB - 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.
KW - Global trajectory
KW - Iterative linear quadratic regulator (ILQR)
KW - Kinematic model
KW - Lattice planner
KW - Trajectory tracking controller
UR - http://www.scopus.com/inward/record.url?scp=84866514275&partnerID=8YFLogxK
U2 - 10.1631/jzus.C1100379
DO - 10.1631/jzus.C1100379
M3 - Article
AN - SCOPUS:84866514275
SN - 1869-1951
VL - 13
SP - 593
EP - 600
JO - Journal of Zhejiang University: Science C
JF - Journal of Zhejiang University: Science C
IS - 8
ER -