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Hybrid Intelligent Algorithm for Indoor Path Planning and Trajectory-Tracking Control of Wheeled Mobile Robot

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Abstract

This paper presents a hybrid intelligent algorithm for a wheeled mobile robot (WMR) to implement both trajectory-tracking and path-following navigation missions. The novel control scheme combining the kinematic with TSK fuzzy control is developed to track the desired position, linear, and angular velocities, even though the WMR suffers from system uncertainties and disturbances. The proposed TSK fuzzy controller deals with a general dynamic model and has a good ability of disturbance rejection. For the path-following issue, the improved D* lite algorithm determines an appropriate path between an initial position and a destination. The derived path is transformed into a tracking trajectory by a function of time. The asymptotic stability of the overall system is proven by Lyapunov theory. Finally, real-time experiments with the use of the proposed hybrid intelligent algorithm on an eight-shaped reference trajectory and long-distance movement demonstrate the feasibility of practical WMR maneuvers.

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Acknowledgments

This research is partially supported by the “Aim for the Top University Project” and “Center of Learning Technology for Chinese” of National Taiwan Normal University (NTNU), sponsored by the Ministry of Education, Taiwan, R.O.C. and the “International Research-Intensive Center of Excellence Program” of NTNU and Ministry of Science and Technology, Taiwan, under Grants nos. MOST 104-2911-I-003-301, MOST104-2221-E-003-026, MOST 104-2221-E-234-001, and MOST104-2221-E-003-024.

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Authors and Affiliations

  1. Department of Information Technology, Lee-Ming Institute of Technology, Taipei, Taiwan, ROC

    I-Hsum Li

  2. Department of Electrical Engineering, National Taiwan Normal University, 162, He-ping East Road, Section 1, Taipei, 106, Taiwan, ROC

    Yi-Hsing Chien & Wei-Yen Wang

  3. Department of Applied Electronics Technology, National Taiwan Normal University, 162, He-ping East Road, Section 1, Taipei, 106, Taiwan, ROC

    Yi-Feng Kao

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  1. I-Hsum Li
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  2. Yi-Hsing Chien
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Correspondence to Wei-Yen Wang.

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Li, IH., Chien, YH., Wang, WY. et al. Hybrid Intelligent Algorithm for Indoor Path Planning and Trajectory-Tracking Control of Wheeled Mobile Robot. Int. J. Fuzzy Syst. 18, 595–608 (2016). https://doi.org/10.1007/s40815-016-0166-0

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  • DOI: https://doi.org/10.1007/s40815-016-0166-0

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