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Conference Paper: Sensor-referenced motion planning and dynamic control for mobile robots

TitleSensor-referenced motion planning and dynamic control for mobile robots
Authors
Issue Date1998
Citation
Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 1998, v. 1, p. 427-432 How to Cite?
AbstractA new design method for non-time based tracking controller is presented. The key to the non-time based control method is the introduction of a suitable action or motion reference variable other than time, which is directly related to the desired and measurable system output. It enables the construction of control systems with integrated planning capability, in which planning becomes real-time closed-loop process. The new design method converts a controller designed by traditional time-based approach to a non-time based controller using action reference. It significantly simplifies the design procedure. The design method is exemplified by a unmanned vehicle tracking control problem. The design procedure and simulation results demonstrate the advantages of proposed method.
Persistent Identifierhttp://hdl.handle.net/10722/212695
ISSN

 

DC FieldValueLanguage
dc.contributor.authorKang, Wei-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:04:43Z-
dc.date.available2015-07-28T04:04:43Z-
dc.date.issued1998-
dc.identifier.citationProceedings of the IEEE International Conference on Systems, Man and Cybernetics, 1998, v. 1, p. 427-432-
dc.identifier.issn0884-3627-
dc.identifier.urihttp://hdl.handle.net/10722/212695-
dc.description.abstractA new design method for non-time based tracking controller is presented. The key to the non-time based control method is the introduction of a suitable action or motion reference variable other than time, which is directly related to the desired and measurable system output. It enables the construction of control systems with integrated planning capability, in which planning becomes real-time closed-loop process. The new design method converts a controller designed by traditional time-based approach to a non-time based controller using action reference. It significantly simplifies the design procedure. The design method is exemplified by a unmanned vehicle tracking control problem. The design procedure and simulation results demonstrate the advantages of proposed method.-
dc.languageeng-
dc.relation.ispartofProceedings of the IEEE International Conference on Systems, Man and Cybernetics-
dc.titleSensor-referenced motion planning and dynamic control for mobile robots-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0032284283-
dc.identifier.volume1-
dc.identifier.spage427-
dc.identifier.epage432-

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