Tracking Error Learning Control for Precise Mobile Robot Path Tracking in Outdoor Environment

Kayacan, Erkan; Chowdhary, Girish

doi:10.1007/s10846-018-0916-3

Title: Tracking Error Learning Control for Precise Mobile Robot Path Tracking in Outdoor Environment

Journal Article · Sat Aug 11 00:00:00 EDT 2018 · Journal of Intelligent & Robotic Systems

DOI:https://doi.org/10.1007/s10846-018-0916-3· OSTI ID:1464212

^[1]; Chowdhary, Girish ^[2]

Massachusetts Inst. of Technology (MIT), Cambridge, MA (United States). Senseable City Lab. and Computer Science & Artificial Intelligence Lab.
Univ. of Illinois, Urbana-Champaign, IL (United States). Coordinated Science Laboratory and Distributed Autonomous Systems Lab.

This article presents a Tracking-Error Learning Control (TELC) algorithm for precise mobile robot path tracking in off-road terrain. In traditional tracking error-based control approaches, feedback and feedforward controllers are designed based on the nominal model which cannot capture the uncertainties, disturbances and changing working conditions so that they cannot ensure precise path tracking performance in the outdoor environment. In TELC algorithm, the feedforward control actions are updated by using the tracking error dynamics and the plant-model mismatch problem is thus discarded. Therefore, the feedforward controller gradually eliminates the feedback controller from the control of the system once the mobile robot has been ontrack. In addition to the proof of the stability, it is proven that the cost functions do not have local minima so that the coefficients in TELC algorithm guarantee that the global minimum is reached. The experimental results show that the TELC algorithm results in better path tracking performance than the traditional tracking error-based control method. The mobile robot controlled by TELC algorithm can track a target path precisely with less than 10 cm error in off-road terrain.

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Research Organization:: Univ. of Illinois at Urbana-Champaign, IL (United States)

Sponsoring Organization:: USDOE Advanced Research Projects Agency - Energy (ARPA-E)

Grant/Contract Number:: AR0000598

OSTI ID:: 1464212

Journal Information:: Journal of Intelligent & Robotic Systems, Vol. 95; ISSN 0921-0296

Publisher:: SpringerCopyright Statement

Country of Publication:: United States

Language:: English

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Cited by: 18 works

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Asymptotic tracking control of uncertain nonholonomic wheeled mobile robot with actuator saturation and external disturbances Wu, Yuxiang; Wang, Yu Neural Computing and Applications, Vol. 32, Issue 12 https://doi.org/10.1007/s00521-019-04373-9	journal	July 2019
Fault-tolerant path-tracking control of autonomous electric ground vehicles with lateral prescribed performance Wang, Yulei; Yin, Lu; Xu, Nan Transactions of the Institute of Measurement and Control, Vol. 42, Issue 9 https://doi.org/10.1177/0142331219895343	journal	January 2020

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