Computational approaches for improving the performance of path tracking controllers for mobile robots

Fernando Auat Cheein; Saso Blazic; Miguel Torres-Torriti

doi:10.1109/IROS.2015.7354305

Computational approaches for improving the performance of path tracking controllers for mobile robots

Fernando Auat Cheein, Saso Blazic, Miguel Torres-Torriti

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Citations (Scopus)

Abstract

Performance of path tracking controllers for mobile robots is usually constrained to the tuning of a set of gains within previously known boundaries. In industrial applications, controller tuning is a time consuming task, which is especially critical when the gain values have a considerable impact on the use of the robot's energy resources. In this paper, we propose a set of approaches to automatically improve the performance of well-known path tracking controllers used for agricultural applications of automated agricultural machinery. The effect of the proposed strategy can be better appreciated during the transient response of the robot when it has to maneuver along a non-kinematically compatible path. The results presented in this work show that the robot's path tracking performance is improved up to 15% using the proposed approaches.

Original language	English
Title of host publication	2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	IEEE
Pages	6495-6500
Number of pages	6
ISBN (Electronic)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7354305
Publication status	Published - 17 Dec 2015
Event	28th IEEE/RSJ International Conference on Intelligent Robots and Systems 2015 - Hamburg, Germany Duration: 28 Sept 2015 → 2 Oct 2015

Conference

Conference	28th IEEE/RSJ International Conference on Intelligent Robots and Systems 2015
Abbreviated title	IROS 2015
Country/Territory	Germany
City	Hamburg
Period	28/09/15 → 2/10/15

Keywords

Bicycles
Measurement
Mobile robots
Monte Carlo methods
Process control
Service robots

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

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10.1109/IROS.2015.7354305

Cite this

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title = "Computational approaches for improving the performance of path tracking controllers for mobile robots",

abstract = "Performance of path tracking controllers for mobile robots is usually constrained to the tuning of a set of gains within previously known boundaries. In industrial applications, controller tuning is a time consuming task, which is especially critical when the gain values have a considerable impact on the use of the robot's energy resources. In this paper, we propose a set of approaches to automatically improve the performance of well-known path tracking controllers used for agricultural applications of automated agricultural machinery. The effect of the proposed strategy can be better appreciated during the transient response of the robot when it has to maneuver along a non-kinematically compatible path. The results presented in this work show that the robot's path tracking performance is improved up to 15% using the proposed approaches.",

keywords = "Bicycles, Measurement, Mobile robots, Monte Carlo methods, Process control, Service robots",

author = "Cheein, {Fernando Auat} and Saso Blazic and Miguel Torres-Torriti",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 28th IEEE/RSJ International Conference on Intelligent Robots and Systems 2015, IROS 2015 ; Conference date: 28-09-2015 Through 02-10-2015",

year = "2015",

month = dec,

day = "17",

doi = "10.1109/IROS.2015.7354305",

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pages = "6495--6500",

booktitle = "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

address = "United States",

}

Cheein, FA, Blazic, S & Torres-Torriti, M 2015, Computational approaches for improving the performance of path tracking controllers for mobile robots. in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, pp. 6495-6500, 28th IEEE/RSJ International Conference on Intelligent Robots and Systems 2015, Hamburg, Germany, 28/09/15. https://doi.org/10.1109/IROS.2015.7354305

TY - GEN

T1 - Computational approaches for improving the performance of path tracking controllers for mobile robots

AU - Cheein, Fernando Auat

AU - Blazic, Saso

AU - Torres-Torriti, Miguel

PY - 2015/12/17

Y1 - 2015/12/17

N2 - Performance of path tracking controllers for mobile robots is usually constrained to the tuning of a set of gains within previously known boundaries. In industrial applications, controller tuning is a time consuming task, which is especially critical when the gain values have a considerable impact on the use of the robot's energy resources. In this paper, we propose a set of approaches to automatically improve the performance of well-known path tracking controllers used for agricultural applications of automated agricultural machinery. The effect of the proposed strategy can be better appreciated during the transient response of the robot when it has to maneuver along a non-kinematically compatible path. The results presented in this work show that the robot's path tracking performance is improved up to 15% using the proposed approaches.

AB - Performance of path tracking controllers for mobile robots is usually constrained to the tuning of a set of gains within previously known boundaries. In industrial applications, controller tuning is a time consuming task, which is especially critical when the gain values have a considerable impact on the use of the robot's energy resources. In this paper, we propose a set of approaches to automatically improve the performance of well-known path tracking controllers used for agricultural applications of automated agricultural machinery. The effect of the proposed strategy can be better appreciated during the transient response of the robot when it has to maneuver along a non-kinematically compatible path. The results presented in this work show that the robot's path tracking performance is improved up to 15% using the proposed approaches.

KW - Bicycles

KW - Measurement

KW - Mobile robots

KW - Monte Carlo methods

KW - Process control

KW - Service robots

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DO - 10.1109/IROS.2015.7354305

M3 - Conference contribution

AN - SCOPUS:84958153047

SP - 6495

EP - 6500

BT - 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE

T2 - 28th IEEE/RSJ International Conference on Intelligent Robots and Systems 2015

Y2 - 28 September 2015 through 2 October 2015

ER -

Computational approaches for improving the performance of path tracking controllers for mobile robots

Abstract

Conference

Keywords

ASJC Scopus subject areas

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