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 a Cascaded Controller with a Neural Network for Position Tracking Control of a Mobile Robot Based on a Laser Sensor

레이저 센서 기반의 Cascaded 제어기 및 신경회로망을 이용한 이동로봇의 위치 추종 실험적 연구

  • 장평수 (충남대학교 메카트로닉스공학과) ;
  • 장은수 (충남대학교 메카트로닉스공학과) ;
  • 전상운 (한국항공우주연구소) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Published : 2004.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, position control of a car-like mobile robot using a neural network is presented. positional information of the mobile robot is given by a laser range finder located remotely through wireless communication. The heading angle is measured by a gyro sensor. Considering these two sensor information as a reference, the robot posture is corrected by a cascaded controller. To improve the tracking performance, a neural network with a cascaded controller is used to compensate for any uncertainty in the robot. The neural network functions as a compensator to minimize the positional errors in on-line fashion. A car-like mobile robot is built as a test-bed and experimental studies of several controllers are conducted and compared. Experimental results show that the best position control performance can be achieved by a cascaded controller with a neural network.

Keywords

References

  1. K. Moore and N. Flann, 'A Six-Wheeled Omnidirectional Autonomous Mobile Robot', IEEE Control Systems Magazine, pp.53-66, 2000 https://doi.org/10.1109/37.887449
  2. Y. Chung, C. Park, and F. Harashima, 'A Position control Differential Drive Wheeled Mobile Robot', IEEE Trans. on Industrial Electronics, pp.853-863, 2001 https://doi.org/10.1109/41.937419
  3. J. Borenstein, 'Experimental Evaluation of a Fiber Optic Gyroscope for Improving Dead-reckoning Accuracy in mobile Robots', IEEE Conf. on Robotics and Automations, vol. 15, no. 2 pp. 219-229, April 1999
  4. L. Jetto, S. Longhi, G. 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
  5. 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 pp. 55-69, 1994 https://doi.org/10.1177/027836499401300104
  6. I. Kolmanovsky and N. H. McClamroch, 'Developments in Nonhononomic Control Problems', IEEE Control Systems Magazine, pp. 20-31, 1995
  7. 정 슬, 장평수, 원문철, 홍섭, '신경회로망을 이용한 비전 기반 이동로봇의 위치제어에 대한 실험적 연구', pp. 515-526, 제 9권, 7호, 제어 . 자동화 . 시스템 공학회, 2003
  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. Wu, H. Chen, Y. Wang, 'Backstepping Design for Path Tracking of Mobile Robots', Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1822-1827, 1999 https://doi.org/10.1109/IROS.1999.811743
  10. Y. 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
  11. 주진화, 이장명, '신경망을 이용한 이동 로봇의 실시간 고속 정밀제어', 제어·자동화·시스템 공학회 논문지, 제5권 제1호, pp. 95-104, 1999
  12. 김무진, 이영진, 박성준, 이만형 '신경망을 이용한 이동로봇의 정밀제어', 제어 자동화 시스템 공학 논문지, 제6권 제8호, pp. 689-696, 2000
  13. Panteley, E. and A. Loria, 'On global uniform asymptotic stability of nonlinear time-varying systems in cascade', Systems and Control Letters, Vol. 33, pp. 131-138, 1998 https://doi.org/10.1016/S0167-6911(97)00119-9
  14. 정 슬, 임선빈, '신경회로망을 이용한 비선형 시스템 제어의 실험적 연구', 제어·자동화·시스템 공학회 논문지, 제7권 제11호, pp. 918-926, 2001