TY - GEN
T1 - A trajectory tracking control algorithm of nonholonomic wheeled mobile robot
AU - Deng, Rui
AU - Zhang, Qingfang
AU - Gao, Rui
AU - Li, Mingkang
AU - Liang, Peng
AU - Gao, Xueshan
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/3
Y1 - 2021/7/3
N2 - A trajectory tracking control algorithm based on deep reinforcement learning is proposed in this paper. It could solve the trajectory tracking problem of wheeled mobile robot with nonholonomic constraints. Firstly, by analyzing the nonholonomic constraint characteristics of the wheeled mobile robot, the kinematics model, dynamics model and motor drive model of the wheeled mobile robot are established. Then, according to the proposed model, a trajectory tracking control algorithm is designed by using the deep deterministic policy gradient (DDPG) algorithm. Finally, a robot agent is trained to tracking a circle trajectory by the proposed method. The simulation results show that our control algorithm could effectively track the target circular trajectory.
AB - A trajectory tracking control algorithm based on deep reinforcement learning is proposed in this paper. It could solve the trajectory tracking problem of wheeled mobile robot with nonholonomic constraints. Firstly, by analyzing the nonholonomic constraint characteristics of the wheeled mobile robot, the kinematics model, dynamics model and motor drive model of the wheeled mobile robot are established. Then, according to the proposed model, a trajectory tracking control algorithm is designed by using the deep deterministic policy gradient (DDPG) algorithm. Finally, a robot agent is trained to tracking a circle trajectory by the proposed method. The simulation results show that our control algorithm could effectively track the target circular trajectory.
KW - Deep reinforcement learning
KW - Nonholonomic wheeled mobile robot
KW - Trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85116304434&partnerID=8YFLogxK
U2 - 10.1109/ICARM52023.2021.9536154
DO - 10.1109/ICARM52023.2021.9536154
M3 - Conference contribution
AN - SCOPUS:85116304434
T3 - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
SP - 823
EP - 828
BT - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
Y2 - 3 July 2021 through 5 July 2021
ER -