Hybrid Intelligent Algorithm for Indoor Path Planning and Trajectory-Tracking Control of Wheeled Mobile Robot

This paper presents a hybrid intelligent algorithm for a wheeled mobile robot (WMR) to implement both trajectory-tracking and path-following navigation missions. The novel control scheme combining the kinematic with TSK fuzzy control is developed to track the desired position, linear, and angular ve...

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Bibliographic Details
Published in:International journal of fuzzy systems 2016-08, Vol.18 (4), p.595-608
Main Authors: Li, I-Hsum, Chien, Yi-Hsing, Wang, Wei-Yen, Kao, Yi-Feng
Format: Article
Language:English
Subjects:
Algorithms
Angular position
Angular velocity
Artificial Intelligence
Computational Intelligence
Controllers
Design
Dynamic models
Engineering
Fuzzy control
Kinematics
Management Science
Motion control
Operations Research
Path planning
Robot control
Robot dynamics
Robots
Space missions
Tracking control
Trajectory control
Trajectory planning
Velocity
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Summary:This paper presents a hybrid intelligent algorithm for a wheeled mobile robot (WMR) to implement both trajectory-tracking and path-following navigation missions. The novel control scheme combining the kinematic with TSK fuzzy control is developed to track the desired position, linear, and angular velocities, even though the WMR suffers from system uncertainties and disturbances. The proposed TSK fuzzy controller deals with a general dynamic model and has a good ability of disturbance rejection. For the path-following issue, the improved D* lite algorithm determines an appropriate path between an initial position and a destination. The derived path is transformed into a tracking trajectory by a function of time. The asymptotic stability of the overall system is proven by Lyapunov theory. Finally, real-time experiments with the use of the proposed hybrid intelligent algorithm on an eight-shaped reference trajectory and long-distance movement demonstrate the feasibility of practical WMR maneuvers.
ISSN:1562-2479
2199-3211
DOI:10.1007/s40815-016-0166-0