Adaptive Speed Control of Wheeled Mobile Robot on Uncertain Road Condition | Zendy

Kyosuke Terada | Zendy; Hiroyasu Miura | Zendy; Masayuki OKUGAWA | Zendy; Yoshimitsu Kobayashi | Zendy

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Adaptive Speed Control of Wheeled Mobile Robot on Uncertain Road Condition

Author(s) -

Kyosuke Terada,

Hiroyasu Miura,

Masayuki OKUGAWA,

Yoshimitsu Kobayashi

Publication year - 2016

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2016.p0687

Subject(s) - mobile robot , adaptive control , simple (philosophy) , computer science , control theory (sociology) , robot , control engineering , control (management) , control system , robot control , electronic speed control , simulation , engineering , artificial intelligence , philosophy , electrical engineering , epistemology

[abstFig src='/00280005/10.jpg' width='300' text='Adaptive speed control for mobile robot' ] This study investigated the effectiveness of a simple adaptive control system used for controlling the dynamics of the driving system of a wheeled mobile robot. This paper describes the design method of a speed control system and the gain adjustment procedure considering a practical application of the simple adaptive control system. Experiments were conducted on two different road conditions, and the results indicated that the rectilinear performance of the wheeled mobile robot improved with the use of the simple adaptive control system. In the case of uncertain road conditions, the simple adaptive control system reduced the deterioration of the control performance effectively.

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