Non-Autonomous Wheeled Mobile Robot Trajectory Tracking Control Based on the Navigation via WSN

Abstract:

Trajectory tracking control is a major control problem in the application of the wheeled mobile robots (WMRs). However, many of the WMRs are autonomous which are equipped with several kinds of sensor to detect the position and orientation by itself, such as ultrasonic, laser, infrared and visual. This paper studies the implementation for a distributed network feedback control system and the trajectory tracking control algorithm for a non-autonomous WMR. The control system consists of a wireless sensor network (WSN) and a monitoring base station for measurement and feedback, and a non-autonomous WMR as controlled plant. To cope with the distributed and asynchronous measurements and slow response of the feedback channel, the sectional error amplitude limited algorithm is studied and the results show the system can effectively track a reference trajectory.

• Periodical: Advanced Materials Research (Volumes 457-458)
• Pages: 1089-1095
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.457-458.1089
• Online since: January 2012
• Authors: Da Yong Lu, Zhen Hua Luo, Jian Lu Tian
• Keywords: Data Fusion, Distributed Measurements, Trajectory Tracking, WMR

References

[1] C. C. Tsai, H. H. Lin and C. C. Lin, Trajectory tracking control of a laser-guided wheeled mobile robot, Proc. IEEE Symp. Control Applications (CCA 04), IEEE press, Sep. 2004, Vol. 2, pp.1055-1060, doi: 10. 1109/CCA. 2004. 1387511.

DOI: 10.1109/cca.2004.1387511

[2] E. Stella, G. Cicirelli, G. Attolico, and A. Distant, Visual navigation of o mobile robot integrating an heading sensor, Proc. IEEE Symp. Intelligent Vehicles Symposium (IVS 96), IEEE press, Sep. 1996, pp.82-86, doi: 10. 1109/IVS. 1996. 566357.

DOI: 10.1109/ivs.1996.566357

[3] T. Trinidad-Garcia, G. Saldaa-Gonzalez, M. Larios-Gomez, M. N. Lopez, and H. F. Villafuerte, Saling system based in ultrasound and infrared applied to a mobile robot, Proc. IEEE Symp. Electronics, Communications and Computer (CONIELECOMP 2010), IEEE press, Feb. 2010, pp.286-289.

DOI: 10.1109/conielecomp.2010.5440753

[4] X. H. Lv, and Y. X. Liu, Design of human motion detection and tracking robot based on pyroelectric infrared sensor, Proc. IEEE Symp. Control and Automation (WCICA 2010), Jul. 2010, IEEE press, pp.3737-3740, doi: 10. 1109/WCICA. 2010. 5555026.

DOI: 10.1109/wcica.2010.5555026

[5] Rajeev Shorey, A. Ananda, Mun Choon Chan, Wei Tsang Ooi, Mobile, Wireless, and Sensor Networks Technology, Applications, and Future Directions, IEEE press (2005).

DOI: 10.1002/0471755591

[6] W. F. Luo and Z. H. Luo. The Design and Implementation of a Target Tracking Test Ded Based on WSN, Computer, Mechatronics, Control and Electronic Engineering (CMCE 2010), IEEE Press, Oct. 2010, pp.312-315, doi: 10. 1109/CMCE. 2010. 5610499.

DOI: 10.1109/cmce.2010.5610499

[7] Y. K. Toh, W.D. Xiao and L.H. Xie. A Wireless Sensor Network Target Tracking System with Distributed Competition based Sensor Scheduling,. Intelligent Sensors, Sensor Networks and Information(ISSNIP 07), Dec. 2007, pp.257-262.

DOI: 10.1109/issnip.2007.4496853

[8] Y. Bar-Shalom, X. R. Li, and T. Kirubrarajan, Estiamtion with application to tracking and navigation, New York: John Wiley and Sons, (2001).

[9] C. B. Low, and D. W. Wang, GPS-based Path Following Control for a Car-Like Wheeled Mobile Robot With Skidding and Slipping, IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, vol. 16, Feb. 2008, pp.340-347, doi: 10. 1109/TCST. 2007. 903100.

DOI: 10.1109/tcst.2007.903100