A trajectory tracking control algorithm of nonholonomic wheeled mobile robot

Rui Deng; Qingfang Zhang; Rui Gao; Mingkang Li; Peng Liang; Xueshan Gao

doi:10.1109/ICARM52023.2021.9536154

A trajectory tracking control algorithm of nonholonomic wheeled mobile robot

Rui Deng^*, Qingfang Zhang, Rui Gao, Mingkang Li, Peng Liang, Xueshan Gao

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	823-828
Number of pages	6
ISBN (Electronic)	9780738133645
DOIs	https://doi.org/10.1109/ICARM52023.2021.9536154
Publication status	Published - 3 Jul 2021
Event	6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021 - Chongqing, China Duration: 3 Jul 2021 → 5 Jul 2021

Publication series

Name	2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021

Conference

Conference	6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
Country/Territory	China
City	Chongqing
Period	3/07/21 → 5/07/21

Keywords

Deep reinforcement learning
Nonholonomic wheeled mobile robot
Trajectory tracking

Access to Document

10.1109/ICARM52023.2021.9536154

Cite this

Deng, R., Zhang, Q., Gao, R., Li, M., Liang, P., & Gao, X. (2021). A trajectory tracking control algorithm of nonholonomic wheeled mobile robot. In 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021 (pp. 823-828). (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM52023.2021.9536154

Deng, Rui ; Zhang, Qingfang ; Gao, Rui et al. / A trajectory tracking control algorithm of nonholonomic wheeled mobile robot. 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 823-828 (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021).

@inproceedings{b83d8b95b21a4398bd28847362af6863,

title = "A trajectory tracking control algorithm of nonholonomic wheeled mobile robot",

abstract = "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.",

keywords = "Deep reinforcement learning, Nonholonomic wheeled mobile robot, Trajectory tracking",

author = "Rui Deng and Qingfang Zhang and Rui Gao and Mingkang Li and Peng Liang and Xueshan Gao",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021 ; Conference date: 03-07-2021 Through 05-07-2021",

year = "2021",

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doi = "10.1109/ICARM52023.2021.9536154",

language = "English",

series = "2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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address = "United States",

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Deng, R, Zhang, Q, Gao, R, Li, M, Liang, P & Gao, X 2021, A trajectory tracking control algorithm of nonholonomic wheeled mobile robot. in 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021, Institute of Electrical and Electronics Engineers Inc., pp. 823-828, 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021, Chongqing, China, 3/07/21. https://doi.org/10.1109/ICARM52023.2021.9536154

A trajectory tracking control algorithm of nonholonomic wheeled mobile robot. / Deng, Rui; Zhang, Qingfang; Gao, Rui et al.
2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 823-828 (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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

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BT - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021

PB - Institute of Electrical and Electronics Engineers Inc.

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Deng R, Zhang Q, Gao R, Li M, Liang P, Gao X. A trajectory tracking control algorithm of nonholonomic wheeled mobile robot. In 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 823-828. (2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021). doi: 10.1109/ICARM52023.2021.9536154

A trajectory tracking control algorithm of nonholonomic wheeled mobile robot

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