Mobile robot tracking control in a perceptive frame

Wei Kang; Ning Xi; Osa Fitch

doi:10.1117/12.335706

8 January 1999 Mobile robot tracking control in a perceptive frame

Wei Kang, Ning Xi, Osa Fitch

Proceedings Volume 3525, Mobile Robots XIII and Intelligent Transportation Systems; (1999) https://doi.org/10.1117/12.335706
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

A 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 system 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.

Citation Download Citation

Wei Kang, Ning Xi, and Osa Fitch "Mobile robot tracking control in a perceptive frame", Proc. SPIE 3525, Mobile Robots XIII and Intelligent Transportation Systems, (8 January 1999); https://doi.org/10.1117/12.335706

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