An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot 被引量：3

An iterative linear quadratic regulator based trajectory tracking controller for wheeled mobile robot

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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. 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.

作者 Hao-jie ZHANG Jian-wei GONG Yan JIANG Guang-ming XIONG Hui-yan CHEN

机构地区 Intelligent Vehicle Research Center

出处《Journal of Zhejiang University-Science C(Computers and Electronics)》 SCIE EI 2012年第8期593-600,共8页 浙江大学学报C辑（计算机与电子（英文版）

基金 Project (Nos. 90920304 and 91120015) supported by the National Natural Science Foundation of China

关键词格子规划者全球轨道运动学的模型轨道追踪控制器反复的线性二次的管理者(ILQR ) Lattice planner, Global trajectory, Kinematic model, Trajectory tracking controller, Iterative linear quadratic regulator （ILQR）

分类号 TP242.6 [自动化与计算机技术—检测技术与自动化装置]

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