TY - GEN
T1 - 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
AU - Watanabe, Atsushi
AU - Ohya, Akihisa
AU - Yuta, Shin'ichi
PY - 2011/8/11
Y1 - 2011/8/11
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=79961179111&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79961179111&partnerID=8YFLogxK
U2 - 10.1109/CICA.2011.5945752
DO - 10.1109/CICA.2011.5945752
M3 - Conference contribution
AN - SCOPUS:79961179111
SN - 9781424499038
T3 - IEEE SSCI 2011 - Symposium Series on Computational Intelligence - CICA 2011 - 2011 IEEE Symposium on Computational Intelligence in Control and Automation
SP - 137
EP - 142
BT - IEEE SSCI 2011 - Symposium Series on Computational Intelligence - CICA 2011 - 2011 IEEE Symposium on Computational Intelligence in Control and Automation
T2 - Symposium Series on Computational Intelligence, IEEE SSCI 2011 - 2011 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2011
Y2 - 11 April 2011 through 15 April 2011
ER -