Control parameter design for robot vehicle based on numerical simulation and heuristic optimization - Feed-back controller design for trajectory tracking under strict physical constraints in wide speed range

Atsushi Watanabe, Akihisa Ohya, Shin'ichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

For the construction of the mobile robot system, it is necessary to determine a lot of parameters like the feedback gain and the clip parameters of artificial saturation. And it is difficult to decide suitable parameters by analytical technique because of its non-linearity and complexity. In this paper, we propose the method of the mobile robot control system parameter design by a numerical simulation and heuristic optimization using the enough computer power. We describe the model of the system as iterative numerical calculation instead of analytical time function. This model can suit the real control system, and it is straightforward to be built. And we show the experimental results of the automatically decided feedback gains by using proposed method for the linear feedback trajectory tracking controller of the small-sized autonomous mobile robot system, which runs in relatively high speed up to 5 meters per second as an example.

Original languageEnglish
Title of host publicationIEEE SSCI 2011 - Symposium Series on Computational Intelligence - CICA 2011 - 2011 IEEE Symposium on Computational Intelligence in Control and Automation
Pages137-142
Number of pages6
DOIs
Publication statusPublished - 2011 Aug 11
EventSymposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2011 - Paris, France
Duration: 2011 Apr 112011 Apr 15

Publication series

NameIEEE SSCI 2011 - Symposium Series on Computational Intelligence - CICA 2011 - 2011 IEEE Symposium on Computational Intelligence in Control and Automation

Conference

ConferenceSymposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2011
CountryFrance
CityParis
Period11/4/1111/4/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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    Watanabe, A., Ohya, A., & Yuta, S. (2011). Control parameter design for robot vehicle based on numerical simulation and heuristic optimization - Feed-back controller design for trajectory tracking under strict physical constraints in wide speed range. In IEEE SSCI 2011 - Symposium Series on Computational Intelligence - CICA 2011 - 2011 IEEE Symposium on Computational Intelligence in Control and Automation (pp. 137-142). [5945752] (IEEE SSCI 2011 - Symposium Series on Computational Intelligence - CICA 2011 - 2011 IEEE Symposium on Computational Intelligence in Control and Automation). https://doi.org/10.1109/CICA.2011.5945752