Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Experimental Studies of Vision Based Position Tracking Control of Mobile Robot Using Neural Network

신경회로망을 이용한 비전 기반 이동 로봇의 위치제어에 대한 실험적 연구

  • 정슬 (충남대학교 메카트로닉스공학과) ;
  • 장평수 (충남대학교 메카트로닉스공학과) ;
  • 원문철 (충남대학교 메카트로닉스공학과) ;
  • 홍섭 (한국해양연구소)
  • Published : 2003.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

Tutorial contents of kinematics and dynamics of a wheeled drive mobile robot are presented. Based on the dynamic model, simulation studies of position tracking of a mobile robot are performed. The control structure of several position control algorithms using visual feedback are proposed and their performances are compared. In order to compensate for uncertainties from unknown dynamics and ignored dynamic effects such as slip conditions, neural network based position control schemes are proposed. Experiments are conducted and the results show the performance of the vision based neural network control scheme fumed out to be the best among several proposed schemes.

Keywords

References

  1. L. Jetto, S. Longhi, Giuseppe Venturini, 'Development and experimental validation of an adaptive extended kalman filter for the localization of mobile robots', IEEE Transactions on Robotics and Automation, vol. 15, no. 2, pp. 219-229, April 1999 https://doi.org/10.1109/70.760343
  2. T. Larsen, K. Hansen, N. Anderson, O. Ravn, 'Design of kalman filters for mobile robots : Evaluation of the kinematics and odometric approach', IEEE Control Applications, pp. 1021-1026, 1999 https://doi.org/10.1109/CCA.1999.801027
  3. C. C. Tsai, 'A localiztion system of a mobile robot by fusing dead-reckoning and ultrasonic measurments', IEEE Instrumentation and Measurement Technology, pp. 144-149, 1998 https://doi.org/10.1109/IMTC.1998.679741
  4. S. Jung and T. C. Hsia, 'Robust neural force control scheme under uncertainties in robot dynamics and unknown environment', IEEE Trans. on Industrial Electronics, pp. 403-412, vol. 47, no. 2, April, 2000 https://doi.org/10.1109/41.836356
  5. 정슬, 임선빈, '미정보 환경하에서의 신경회로망 힘추종 로봇제어 기술의 실험적 연구', 제어. 자동화. 시스템 공학 논문지, pp. 338-344, 제8권 제4호
  6. P. W. Jeon, P. S. Jang and Seul Jung, 'Path generation for collision avoidance of blind mobile robot using force sensor with memories', FIRA 2002 World Congress on Robotics, May 2002, Seoul, Korea
  7. N. Sarkar, X. Yun, V. Kumar, 'Control of mechanical systems with rolling constraints : Application to dynamic control of mobile robots', The International Journal of Robotics Research, vol. 13, no. 1, February 1994, pp. 55-69 https://doi.org/10.1177/027836499401300104
  8. Z. P. Jang and H. Nijmeijer, 'Tracking control of mobile robots: A case study in backstepping', Automatica, vol. 33, no. 7, pp. 1393-1399, 1997 https://doi.org/10.1016/S0005-1098(97)00055-1
  9. W. Weiguo, C. Huitang, W. Yuejuan, 'Backstepping design for path tracking of mobile robots', Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, 1999, pp. 1822-1827 https://doi.org/10.1109/IROS.1999.811743
  10. Y. Kanayama, Y. Kimura, F. Miyazaki, and T. Noguchi, 'A stable tracking control method for an autonomous mobile robot', in Proceedings of the 1990 IEEE International Conference on Robotics and Automation, 1990, pp. 384-389 https://doi.org/10.1109/ROBOT.1990.126006
  11. Y. Kanayama, Y. Kimura, F. Miyazaki, and T. Noguchi, 'A stable tracking control method for a non-holonomic mobile robot', IEEE/RSJ International Workshop on Intelligent Robots and System IROS, pp. 1236-1241, 1991 https://doi.org/10.1109/IROS.1991.174669
  12. Y. J. Kanayama and F. Fahroo, 'A new line tracking method for nonholonomic vehicles', IEEE Robotics and Automations, pp. 2908-2913, 1997 https://doi.org/10.1109/ROBOT.1997.606728
  13. S. Singh, and D. H. Shin, 'Position based path tracking for wheeled mobile robots', Proc. of IEEE IROS 89, pp. 386-391, 1989
  14. 주진화, 이장명, '신경회로망을 이용한 이동 로봇의 실시간 고속 정밀제어', 제어 . 자동화. 시스템 공학회, pp. 95-104, 제5권 1호, 1999
  15. 김무진, 이영진, 박성준, 이만형, '신경회로망을 이용한 이동 로봇의 정밀제어', 제어. 자동화. 시스템 공학회, pp. 689-696, 제6권 8호, 2000
  16. R. Fierro and F. Lewis, 'Robust practical point stabilization of a nonholonomic mobile robot using neural networks', Journal of Intelligent and Robotic Systems, pp. 295-317, 1997 https://doi.org/10.1023/A:1007916529436
  17. W. K. Kim, D. H. Kim, B. J. Yi, B. J. You, 'Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates', IEEE Robotics and Automations, pp. 2413-2418, 2001 https://doi.org/10.1109/ROBOT.2001.932983
  18. 전상운, 정슬, 원문철, 홍 섭, 최종수, '추측방법과 LBL 시스템 융합을 통한 UTV의 위치 추정', pp. 1899-1903, ICCAS, 2001, 제주
  19. 정슬, 임선빈, '신경회로망을 이용한 비선형 시스템 제어의 실험적 연구', pp. 918-926, 제어. 자동화. 시스템 공학 논문지 제 7 권 제 11 호