Apply Model-Free Adaptive Control Approach for Mobile Robot Path Following
- https://doi.org/10.2991/jrnal.k.200909.010How to use a DOI?
- Mode-free adaptive control, dynamic window approach, path follower, mobile service robot
The state of the art of mobile robot path planning is composed with global planner and local planner. For example, the global planner majorly establishes a suitable path from a knowing map based on the shortest path. And the local planner which computes the velocity command that includes obstacle clearance and progress toward the goal. However, due to the 2D laser ranger on a mobile service robot just detects the part of the meal table or misses it, this will cause robot often hits the meal table. In this work we apply adaptive control method to feed the goals for Dynamic Window Approach’s (DWA) computing. The experimental result shows that DWA will follow the pre-defined path closely and smoothly.
- © 2020 The Authors. Published by Atlantis Press B.V.
- Open Access
- This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - JOUR AU - Chia-Jen Lin AU - Chun-Chi Lai AU - Kuo-Hsien Hsia AU - Chin-Sheng Chen PY - 2020 DA - 2020/09 TI - Apply Model-Free Adaptive Control Approach for Mobile Robot Path Following JO - Journal of Robotics, Networking and Artificial Life SP - 190 EP - 193 VL - 7 IS - 3 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.k.200909.010 DO - https://doi.org/10.2991/jrnal.k.200909.010 ID - Lin2020 ER -