The Adaptive Control for the Outdoor Mobile Robot with Diameter-variable Wheels

被引：0
|
作者：
Guan, Xiaolong [1 ,2 ,3 ]
Zhang, Peng [1 ,2 ]
Fang, Min [1 ,2 ,3 ]
Hu, Ying [1 ,2 ]
Zhang, Jianwei [1 ,2 ,4 ]
机构：
[1] Chinese Acad Sci, Guangdong Prov Key Lab Robot & Intelligent Syst, Shenzhen Inst Adv Technol, Shenzhen, Peoples R China
[2] Chinese Univ Hong Kong, Hong Kong, Hong Kong, Peoples R China
[3] Harbin Inst Technol, Shenzhen Grad Sch, Shenzhen, Peoples R China
[4] Univ Hamburg, Hamburg, Germany
来源：
2014 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA) | 2014年
关键词：
outdoor mobile robot; diameter-variable wheel; adaptive 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：
The Outdoor Mobile Robot plays an important part in outdoor science exploration, community monitor and so on, and is becoming a research hotspot. On the basis of the outdoor mobile robot with diameter-variable wheels, this paper builds a motion control system which could control the movement of the outdoor mobile robot with diameter-variable wheels and creates an adaptive control model which could open and fold the wheel automatically according to the road condition. Then the mobile robot could run on the rough terrain and keep steadily on the mass centre margin. A series of simulation has been done for the adaptive control model, and the simulation results demonstrate that the adaptive control model is feasible.
引用
收藏
页码：1096 / 1101
页数：6
相关论文
共 50 条
  • [31] Neural Tracking Control of a Four-Wheeled Mobile Robot with Mecanum Wheels
    Szeremeta, Mateusz
    Szuster, Marcin
    APPLIED SCIENCES-BASEL, 2022, 12 (11):
  • [32] Practical implementation of an effective robust adaptive fuzzy variable structure tracking control for a wheeled mobile robot
    Begnini, Mauricio
    Bertol, Douglas Wildgrube
    Martins, Nardenio Almeida
    JOURNAL OF INTELLIGENT & FUZZY SYSTEMS, 2018, 35 (01) : 1087 - 1101
  • [33] A robust adaptive fuzzy variable structure tracking control for the wheeled mobile robot: Simulation and experimental results
    Begnini, Mauricio
    Bertol, Douglas Wildgrube
    Martins, Nardenio Almeida
    CONTROL ENGINEERING PRACTICE, 2017, 64 : 27 - 43
  • [34] Robust combined adaptive and variable structure adaptive control of robot manipulators
    Yu, H
    ROBOTICA, 1998, 16 : 623 - 650
  • [35] Robust combined adaptive and variable structure adaptive control of robot manipulators
    Yu, H.
    Robotica, 1998, 16 (pt 6): : 623 - 650
  • [36] Comparative Analysis of Mobile Robot Wheels Design
    Shabalina, Ksenia
    Sagitov, Artur
    Magid, Evgeni
    2018 11TH INTERNATIONAL CONFERENCE ON DEVELOPMENTS IN ESYSTEMS ENGINEERING (DESE 2018), 2018, : 175 - 179
  • [37] Development of novel mobile robot with semicircular wheels
    Kanta Yamamoto
    Takeshi Aoki
    ROBOMECH Journal, 7
  • [38] Design and Testing of Magnetic Wheels for the Mobile Robot
    Buratowski, Tomasz
    Giergiel, Mariusz
    Haluk, Justyna
    Koniarz, Kalina
    Szczepkowicz, Tomasz
    MECHATRONICS-INDUSTRY INSPIRED ADVANCES, 2023, 2024, 1042 : 29 - 41
  • [39] Omnidirectional adaptive behavior control for autonomous mobile robot
    Maeda, Y
    Shimizuhira, W
    MODELING DECISIONS FOR ARTIFICIAL INTELLIGENCE, PROCEEDINGS, 2005, 3558 : 252 - 263
  • [40] Adaptive control for mobile robot using wavelet networks
    de Sousa, C
    Hemerly, EM
    Galvao, RKH
    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 2002, 32 (04): : 493 - 504
12345