Adaptive Speed Control of Wheeled Mobile Robot on Uncertain Road Condition-Reference-Cited by-同舟云学术

Adaptive Speed Control of Wheeled Mobile Robot on Uncertain Road Condition

Published:2016-10-20 Issue:5 Volume:28 Page:687-694
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Terada Kyosuke, ,Miura Hiroyasu,Okugawa Masayuki,Kobayashi Yoshimitsu,

Abstract

[abstFig src='/00280005/10.jpg' width='300' text='Adaptive speed control for mobile robot' ] This study investigated the effectiveness of a simple adaptive control system used for controlling the dynamics of the driving system of a wheeled mobile robot. This paper describes the design method of a speed control system and the gain adjustment procedure considering a practical application of the simple adaptive control system. Experiments were conducted on two different road conditions, and the results indicated that the rectilinear performance of the wheeled mobile robot improved with the use of the simple adaptive control system. In the case of uncertain road conditions, the simple adaptive control system reduced the deterioration of the control performance effectively.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

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