Control law design of mobile robot trajectory tracking and development of simulation platform

Yi Yang; Mengyin Fu; Changsheng Sun; Meiling Wang; Cheng Zhao

doi:10.1109/CHICC.2006.4347355

Control law design of mobile robot trajectory tracking and development of simulation platform

Yi Yang^*, Mengyin Fu, Changsheng Sun, Meiling Wang, Cheng Zhao

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

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

5 Citations (Scopus)

Abstract

Autonomous steering control of Wheeled skid-steer mobile robot is focused on. According to dynamic analysis on the robot motion, kinematic constrains of the robot motion is put forward. As uncertain control factors exist during the robot running state, a novel fuzzy control algorithm is proposed. Based on ATRV2 mobile robot and its running environment information, using random number sequence, power spectra density function and virtual prototype technology, ADAMS and MATLAB co-simulation platform is built up, and the robot simulation running experiment is performed in the environment. At the same time, the simulation results show that the fuzzy control algorithm is robust and effective for the mobile robot control.

Original language	English
Title of host publication	Proceedings of the 26th Chinese Control Conference, CCC 2007
Pages	198-202
Number of pages	5
DOIs	https://doi.org/10.1109/CHICC.2006.4347355
Publication status	Published - 2007
Event	26th Chinese Control Conference, CCC 2007 - Zhangjiajie, China Duration: 26 Jul 2007 → 31 Jul 2007

Publication series

Name	Proceedings of the 26th Chinese Control Conference, CCC 2007

Conference

Conference	26th Chinese Control Conference, CCC 2007
Country/Territory	China
City	Zhangjiajie
Period	26/07/07 → 31/07/07

Keywords

Co-simulation platform
Dynamic analysis
Fuzzy control
Mobile robot
Trajectory tracking

Access to Document

10.1109/CHICC.2006.4347355

Cite this

@inproceedings{2000199851924bfc9c2ba3442cef7e94,

title = "Control law design of mobile robot trajectory tracking and development of simulation platform",

abstract = "Autonomous steering control of Wheeled skid-steer mobile robot is focused on. According to dynamic analysis on the robot motion, kinematic constrains of the robot motion is put forward. As uncertain control factors exist during the robot running state, a novel fuzzy control algorithm is proposed. Based on ATRV2 mobile robot and its running environment information, using random number sequence, power spectra density function and virtual prototype technology, ADAMS and MATLAB co-simulation platform is built up, and the robot simulation running experiment is performed in the environment. At the same time, the simulation results show that the fuzzy control algorithm is robust and effective for the mobile robot control.",

keywords = "Co-simulation platform, Dynamic analysis, Fuzzy control, Mobile robot, Trajectory tracking",

author = "Yi Yang and Mengyin Fu and Changsheng Sun and Meiling Wang and Cheng Zhao",

year = "2007",

doi = "10.1109/CHICC.2006.4347355",

language = "English",

isbn = "7900719229",

series = "Proceedings of the 26th Chinese Control Conference, CCC 2007",

pages = "198--202",

booktitle = "Proceedings of the 26th Chinese Control Conference, CCC 2007",

note = "26th Chinese Control Conference, CCC 2007 ; Conference date: 26-07-2007 Through 31-07-2007",

}

Yang, Y, Fu, M, Sun, C, Wang, M & Zhao, C 2007, Control law design of mobile robot trajectory tracking and development of simulation platform. in Proceedings of the 26th Chinese Control Conference, CCC 2007., 4347355, Proceedings of the 26th Chinese Control Conference, CCC 2007, pp. 198-202, 26th Chinese Control Conference, CCC 2007, Zhangjiajie, China, 26/07/07. https://doi.org/10.1109/CHICC.2006.4347355

Control law design of mobile robot trajectory tracking and development of simulation platform. / Yang, Yi; Fu, Mengyin; Sun, Changsheng et al.
Proceedings of the 26th Chinese Control Conference, CCC 2007. 2007. p. 198-202 4347355 (Proceedings of the 26th Chinese Control Conference, CCC 2007).

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

TY - GEN

T1 - Control law design of mobile robot trajectory tracking and development of simulation platform

AU - Yang, Yi

AU - Fu, Mengyin

AU - Sun, Changsheng

AU - Wang, Meiling

AU - Zhao, Cheng

PY - 2007

Y1 - 2007

N2 - Autonomous steering control of Wheeled skid-steer mobile robot is focused on. According to dynamic analysis on the robot motion, kinematic constrains of the robot motion is put forward. As uncertain control factors exist during the robot running state, a novel fuzzy control algorithm is proposed. Based on ATRV2 mobile robot and its running environment information, using random number sequence, power spectra density function and virtual prototype technology, ADAMS and MATLAB co-simulation platform is built up, and the robot simulation running experiment is performed in the environment. At the same time, the simulation results show that the fuzzy control algorithm is robust and effective for the mobile robot control.

AB - Autonomous steering control of Wheeled skid-steer mobile robot is focused on. According to dynamic analysis on the robot motion, kinematic constrains of the robot motion is put forward. As uncertain control factors exist during the robot running state, a novel fuzzy control algorithm is proposed. Based on ATRV2 mobile robot and its running environment information, using random number sequence, power spectra density function and virtual prototype technology, ADAMS and MATLAB co-simulation platform is built up, and the robot simulation running experiment is performed in the environment. At the same time, the simulation results show that the fuzzy control algorithm is robust and effective for the mobile robot control.

KW - Co-simulation platform

KW - Dynamic analysis

KW - Fuzzy control

KW - Mobile robot

KW - Trajectory tracking

UR - https://www.scopus.com/pages/publications/37749006183

U2 - 10.1109/CHICC.2006.4347355

DO - 10.1109/CHICC.2006.4347355

M3 - Conference contribution

AN - SCOPUS:37749006183

SN - 7900719229

SN - 9787900719225

T3 - Proceedings of the 26th Chinese Control Conference, CCC 2007

SP - 198

EP - 202

BT - Proceedings of the 26th Chinese Control Conference, CCC 2007

T2 - 26th Chinese Control Conference, CCC 2007

Y2 - 26 July 2007 through 31 July 2007

ER -

Control law design of mobile robot trajectory tracking and development of simulation platform

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Conference

Keywords

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