Hardware and control design considerations for a monitoring system of autonomous mobile robots in extreme environment

2017 ◽  
Author(s):  
Katsuaki Tanaka ◽  
Yuya Okamoto ◽  
Hiroyuki Ishii ◽  
Daisuke Kuroiwa ◽  
Junko Mitsuzuka ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Monitoring System ◽  
Control Design ◽  
Extreme Environment ◽  
Autonomous Mobile Robots ◽  
Design Considerations ◽  
And Control

GA BASED SENSOR PLACEMENT AND CONTROL DESIGN FOR REACTIVE NAVIGATION OF MOBILE ROBOTS

2005 ◽  
Vol 02 (02) ◽  
pp. 77-91 ◽  
Author(s):  
XIAOCHUAN WANG ◽  
SIMON X. YANG ◽  
MAX Q.-H. MENG
Keyword(s):  
Genetic Algorithm ◽  
Mobile Robots ◽  
Control Structure ◽  
Controller Design ◽  
Sensor Placement ◽  
Control Design ◽  
Simulation Studies ◽  
Optimal Sensor Placement ◽  
Reactive Navigation ◽  
And Control

In this paper, a novel genetic algorithm based approach is proposed for optimal sensor placement and controller design of a mobile robot to facilitate its reactive navigation and obstacle avoidance in unknown environments. The mobile robots considered in this paper have flexible sensor and control structure. A genetic algorithm is developed to evolve the parameters of optimal sensor placement and controller design simultaneously. The effectiveness of the proposed GA based co-evolution approach to robot sensor placement and control design is demonstrated by simulation studies.

scholarly journals Kinematics, dynamics and control design of 4WIS4WID mobile robots

2015 ◽  
Vol 2015 (1) ◽  
pp. 6-16 ◽  
Author(s):  
Ming-Han Lee ◽  
Tzuu-Hseng S. Li
Keyword(s):  
Mobile Robots ◽  
Control Design ◽  
Dynamics And Control ◽  
And Control

scholarly journals Critical Design and Control Issues of Indoor Autonomous Mobile Robots: A Review

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 35338-35370 ◽  
Author(s):  
Md. A. K. Niloy ◽  
Anika Shama ◽  
Ripon K. Chakrabortty ◽  
Michael J. Ryan ◽  
Faisal R. Badal ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Autonomous Mobile Robots ◽  
Critical Design ◽  
And Control

Global inverse optimal exponential path-tracking control of mobile robots driven by Lévy processes

Robotica ◽  
2021 ◽  
pp. 1-27
Author(s):  
K. D. Do
Keyword(s):  
Optimal Control ◽  
Mobile Robots ◽  
Tracking Control ◽  
Lévy Processes ◽  
Control Design ◽  
Levy Processes ◽  
Path Tracking ◽  
Tracking Errors ◽  
Hamilton Jacobi Bellman ◽  
And Control

Abstract This paper formulates and solves a new problem of global practical inverse optimal exponential path-tracking control of mobile robots driven by Lévy processes with unknown characteristics. The control design is based on a new inverse optimal control design for nonlinear systems driven by Lévy processes and ensures global practical exponential stability almost surely and in the pth moment for the path-tracking errors. Moreover, it minimizes cost function that penalizes tracking errors and control torques without having to solve a Hamilton–Jacobi–Bellman or Hamilton–Jaccobi–Isaacs equation.

Sign in / Sign up

Export Citation Format

Share Document