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Proceedings Paper

Mobile robot tracking control in a perceptive frame
Author(s): Wei Kang; Ning Xi; Osa Fitch
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Paper Abstract

A new design method for non-time based tracking controller is presented. The key to the non-time based control method is the introduction of a suitable action or motion reference variable other than time, which is directly related to the desired and measurable system output.It enables the construction of control system with integrated planning capability, in which planning becomes real-time closed-loop process. The new design method converts a controller designed by traditional time-based approach to a non-time based controller using action reference. It significantly simplifies the design procedure. The design method is exemplified by a unmanned vehicle tracking control problem. The design procedure and simulation results demonstrate the advantages of proposed method.

Paper Details

Date Published: 8 January 1999
PDF: 11 pages
Proc. SPIE 3525, Mobile Robots XIII and Intelligent Transportation Systems, (8 January 1999); doi: 10.1117/12.335706
Show Author Affiliations
Wei Kang, Naval Postgraduate School (United States)
Ning Xi, Michigan State Univ. (United States)
Osa Fitch, Naval Air Station Patuxent River (United States)


Published in SPIE Proceedings Vol. 3525:
Mobile Robots XIII and Intelligent Transportation Systems
Howie M. Choset; Pushkin Kachroo; Mikhail A. Kourjanski; Douglas W. Gage; Pushkin Kachroo; Marten J. de Vries; Mikhail A. Kourjanski; Marten J. de Vries, Editor(s)

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