Optimal control of a two-wheeled mobile robot via finite capacity communication channel

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.

[1]  J. Paradells,et al.  Performance evaluation of a TOA-based trilateration method to locate terminals in WLAN , 2006, 2006 1st International Symposium on Wireless Pervasive Computing.

[2]  Qingxuan Jia,et al.  A Novel Design of A Two-Wheeled Robot , 2007, 2007 2nd IEEE Conference on Industrial Electronics and Applications.

[3]  Bill Goodwine,et al.  MICAbot: a robotic platform for large-scale distributed robotics , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[4]  Hari Balakrishnan,et al.  Tracking moving devices with the cricket location system , 2004, MobiSys '04.

[5]  J.M. Fuertes,et al.  Effective Real-Time Wireless Control of an Autonomous Guided Vehicle , 2007, 2007 IEEE International Symposium on Industrial Electronics.

[6]  G. Klancar,et al.  Mobile Robot Control on a Reference Path , 2005, Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation Intelligent Control, 2005..

[7]  Y. Amirat,et al.  Fuzzy steering control of a mobile robot , 1995, Proceedings IEEE Conference on Industrial Automation and Control Emerging Technology Applications.

[8]  Marilena Vendittelli,et al.  Control of Wheeled Mobile Robots: An Experimental Overview , 2001 .

[9]  K. Hedrick,et al.  Networked Control System Design over a Wireless LAN , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[10]  T. Basar,et al.  H∞-0ptimal Control and Related Minimax Design Problems: A Dynamic Game Approach , 1996, IEEE Trans. Autom. Control..

[11]  Hyungsuck Cho,et al.  A path tracking control system for autonomous mobile robots: an experimental investigation , 1994 .

[12]  Liqiang Feng,et al.  Where am I? : sensors and methods for autonomous mobile robot positioning , 1994 .

[13]  Charalambos D. Charalambous,et al.  LQG optimality and separation principle for general discrete time partially observed stochastic systems over finite capacity communication channels , 2008, Autom..

[14]  Huibert Kwakernaak,et al.  Linear Optimal Control Systems , 1972 .

[15]  Sekhar Tatikonda,et al.  Control under communication constraints , 2004, IEEE Transactions on Automatic Control.

[16]  R. M. H. Cheng,et al.  Synthesis of an optimal control law for path tracking in mobile robots , 1992, Autom..

[17]  Gaurav S. Sukhatme,et al.  Robomote: a tiny mobile robot platform for large-scale ad-hoc sensor networks , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[18]  H. Nakamura,et al.  Grobal position and posture control of a two-wheeled mobile robot using a discontinuous homogeneous control , 2005, Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005..

[19]  Kai-Tai Song,et al.  Tracking control of a free-ranging automatic guided vehicle , 1993 .