Please wait a minute...
Front. Inform. Technol. Electron. Eng.  2012, Vol. 13 Issue (8): 593-600    DOI: 10.1631/jzus.C1100379
    
An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot
Hao-jie Zhang, Jian-wei Gong, Yan Jiang, Guang-ming Xiong, Hui-yan Chen
Intelligent Vehicle Research Center, Beijing Institute of Technology, Beijing 100081, China
An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot
Hao-jie Zhang, Jian-wei Gong, Yan Jiang, Guang-ming Xiong, Hui-yan Chen
Intelligent Vehicle Research Center, Beijing Institute of Technology, Beijing 100081, China
 全文: PDF 
摘要: We present an iterative linear quadratic regulator (ILQR) method for trajectory tracking control of a wheeled mobile robot system. The proposed scheme involves a kinematic model linearization technique, a global trajectory generation algorithm, and trajectory tracking controller design. A lattice planner, which searches over a 3D (x, y, θ) configuration space, is adopted to generate the global trajectory. The ILQR method is used to design a local trajectory tracking controller. The effectiveness of the proposed method is demonstrated in simulation and experiment with a significantly asymmetric differential drive robot. The performance of the local controller is analyzed and compared with that of the existing linear quadratic regulator (LQR) method. According to the experiments, the new controller improves the control sequences (v, ω) iteratively and produces slightly better results. Specifically, two trajectories, ‘S’ and ‘8’ courses, are followed with sufficient accuracy using the proposed controller.
关键词: Lattice plannerGlobal trajectoryKinematic modelTrajectory tracking controllerIterative linear quadratic regulator (ILQR)    
Abstract: We present an iterative linear quadratic regulator (ILQR) method for trajectory tracking control of a wheeled mobile robot system. The proposed scheme involves a kinematic model linearization technique, a global trajectory generation algorithm, and trajectory tracking controller design. A lattice planner, which searches over a 3D (x, y, θ) configuration space, is adopted to generate the global trajectory. The ILQR method is used to design a local trajectory tracking controller. The effectiveness of the proposed method is demonstrated in simulation and experiment with a significantly asymmetric differential drive robot. The performance of the local controller is analyzed and compared with that of the existing linear quadratic regulator (LQR) method. According to the experiments, the new controller improves the control sequences (v, ω) iteratively and produces slightly better results. Specifically, two trajectories, ‘S’ and ‘8’ courses, are followed with sufficient accuracy using the proposed controller.
Key words: Lattice planner    Global trajectory    Kinematic model    Trajectory tracking controller    Iterative linear quadratic regulator (ILQR)
收稿日期: 2011-12-26 出版日期: 2012-08-02
CLC:  TP242.6  
服务  
把本文推荐给朋友
加入引用管理器
E-mail Alert
RSS
作者相关文章  
Hao-jie Zhang
Jian-wei Gong
Yan Jiang
Guang-ming Xiong
Hui-yan Chen

引用本文:

Hao-jie Zhang, Jian-wei Gong, Yan Jiang, Guang-ming Xiong, Hui-yan Chen. An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot. Front. Inform. Technol. Electron. Eng., 2012, 13(8): 593-600.

链接本文:

http://www.zjujournals.com/xueshu/fitee/CN/10.1631/jzus.C1100379        http://www.zjujournals.com/xueshu/fitee/CN/Y2012/V13/I8/593

[1] Wei Yang, Can-jun Yang, Ting Xu. 基于人体髋关节转动中心分析的髋关节外骨骼仿生设计[J]. Front. Inform. Technol. Electron. Eng., 2016, 17(8): 792-802.
[2] Qiang Liu, Jia-chen Ma. 基于子空间的离散时滞系统辨识[J]. Front. Inform. Technol. Electron. Eng., 2016, 17(6): 566-575.
[3] Xiao-xin Fu, Yong-heng Jiang, De-xian Huang, Jing-chun Wang, Kai-sheng Huang. 基于候选曲线的公路轨迹规划中的智能计算量分配[J]. Front. Inform. Technol. Electron. Eng., 2016, 17(6): 553-565.
[4] Feng-yu Zhou, Xian-feng Yuan, Yang Yang, Zhi-fei Jiang, Chen-lei Zhou. 一种室内移动机器人高精度视觉定位传感器及其工作原理[J]. Front. Inform. Technol. Electron. Eng., 2016, 17(4): 365-374.
[5] Qian-shan Li, Rong Xiong, Shoudong Huang, Yi-ming Huang. 一种利用半稠密点云及RGB图像构建稠密表面模型地图的方法[J]. Front. Inform. Technol. Electron. Eng., 2015, 16(7): 594-606.
[6] Xin Ma, Ya Xu, Guo-qiang Sun, Li-xia Deng, Yi-bin Li. State-chain sequential feedback reinforcement learning for path planning of autonomous mobile robots[J]. Front. Inform. Technol. Electron. Eng., 2013, 14(3): 167-178.
[7] Yuan-hui Zhang, Wei Wei, Dan Yu, Cong-wei Zhong. A tracking and predicting scheme for ping pong robot[J]. Front. Inform. Technol. Electron. Eng., 2011, 12(2): 110-115.