Optimal Control of a Two-Wheeled Mobile Robot Via Finite Capacity Communication Channel

被引：0
|
作者：
Charalambous, Charalambos D. [1 ]
Lambis, Andreas [1 ,2 ]
Li, Xin [3 ]
机构：
[1] Univ Cyprus, ECE Dept, POB 20537, CY-1678 Nicosia, Cyprus
[2] Univ Cyprus, Dept ECE, Nicosia, Cyprus
[3] Norwegian Univ Sci & Technol, IET Dept, N-7491 Trondheim, Norway
来源：
2008 MEDITERRANEAN CONFERENCE ON CONTROL AUTOMATION, VOLS 1-4 | 2008年
关键词：
Path tracking; optimal control; mobile robot; localization; wireless control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents specific hardware and components which can be used to implement optimal control strategies via wireless communication channels to achieve path tracking. The position of the robot at each time instant is found by implementing a localization algorithm. Simulations results are presented using robust and Linear Quadratic Gaussian (LQG) controller architectures. The overall aim of this research is the integration of the controller in a communication system where the sensor and/or reference information is transmitted via a channel with finite capacity.
引用
收藏
页码：1318 / +
页数：2
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