Tracking Error Learning Control for Precise Mobile Robot Path Tracking in Outdoor Environment
نویسندگان
چکیده
منابع مشابه
Adaptive Sliding Mode Tracking Control of Mobile Robot in Dynamic Environment Using Artificial Potential Fields
Solution to the safe and collision-free trajectory of the wheeled mobile robot in cluttered environments containing the static and/or dynamic obstacle has become a very popular and challenging research topic in the last decade. Notwithstanding of the amount of publications dealing with the different aspects of this field, the ongoing efforts to address the more effective and creative methods is...
متن کاملRobust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملVisual Tracking using Learning Histogram of Oriented Gradients by SVM on Mobile Robot
The intelligence of a mobile robot is highly dependent on its vision. The main objective of an intelligent mobile robot is in its ability to the online image processing, object detection, and especially visual tracking which is a complex task in stochastic environments. Tracking algorithms suffer from sequence challenges such as illumination variation, occlusion, and background clutter, so an a...
متن کاملrobust sliding mode controller for trajectory tracking and attitude control of a nonholonomic spherical mobile robot
based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...
متن کاملLearning-based Nonlinear Model Predictive Control to Improve Vision-based Mobile Robot Path Tracking
This paper presents a Learning-based Nonlinear Model Predictive Control (LB-NMPC) algorithm to achieve high-performance path tracking in challenging off-road terrain through learning. The LB-NMPC algorithm uses a simple a priori vehicle model and a learned disturbance model. Disturbances are modelled as a Gaussian Process (GP) as a function of system state, input, and other relevant variables. ...
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: Journal of Intelligent & Robotic Systems
سال: 2018
ISSN: 0921-0296,1573-0409
DOI: 10.1007/s10846-018-0916-3