Iterative learning control technique for mobile robot path-tracking control

Kevin L. Moore; Vikas Bahl

doi:10.1117/12.369258

15 November 1999 Iterative learning control technique for mobile robot path-tracking control

Kevin L. Moore, Vikas Bahl

Proceedings Volume 3838, Mobile Robots XIV; (1999) https://doi.org/10.1117/12.369258
Event: Photonics East '99, 1999, Boston, MA, United States

Abstract

Iterative learning control (ILC) is a technique for using repetitive operation to derive the input commands needed to force a dynamical system to follow a prescribed trajectory. In this paper we describe ideas towards the use of ILC for path-tracking control of a mobile robot. The work is focused on a novel robotic platform, the Utah State University (USU) Omni-Directional Vehicle (ODV), which features six “smart wheels,” each of which has independent control of both speed and direction. Using a validated dynamic model of the ODV robot, it is shown that ILC can be used to learn the nominal input commands needed force the robot to track a prescribed path in inertial space.

Citation Download Citation

Kevin L. Moore and Vikas Bahl "Iterative learning control technique for mobile robot path-tracking control", Proc. SPIE 3838, Mobile Robots XIV, (15 November 1999); https://doi.org/10.1117/12.369258

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