Path Tracking Control by Online Learning using CMAC for an Omnidirectional Mobile Robots
نویسندگان
چکیده
منابع مشابه
Path Following and Velocity Optimizing for an Omnidirectional Mobile Robot
In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...
متن کاملAn omnidirectional vision sensor for fast tracking for mobile robots
We present an omnidirectional vision system we have implemented to provide our mobile robot Rullit with a fast tracking capability. Rullit has to recognize elements in a semi-structured environment (the soccer field of Robocup) at a rate close to 20 Hz. We have designed a multi-shaped mirror to optimize the resolution of the image and its coverage. The interpretation system is based on focused,...
متن کاملFormation Control and Path Planning of Two Robots for Tracking a Moving Target
This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...
متن کاملRange determination for mobile robots using an omnidirectional camera
This master thesis presents a method to determine distances in a scene using only one omnidirectional camera. The algorithm will be integrated with the navigation system for a robotic wheel chair. In contrast to prior work, our method is able to build absolute scale 3D without the need of a known baseline length, traditionally acquired by odometers. Instead we use the ground plane assumption to...
متن کاملUsing CMAC for Mobile Robot Motion Control
Cerebellar Model Articulation Controller (CMAC) has some attractive features: fast learning capability and the possibility of efficient digital hardware implementation. These features makes it a good choice for different control applications, like the one presented in this paper. The problem is to navigate a mobile robot (e.g a car) from an initial state to a fixed goal state. The approach appl...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEJ Transactions on Industry Applications
سال: 2002
ISSN: 0913-6339,1348-8163
DOI: 10.1541/ieejias.122.910