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A Predictive Controler for Object Tracking of a Mobile Robot

Research output: Contribution to conference - Without ISBN/ISSN Conference paperpeer-review

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A Predictive Controler for Object Tracking of a Mobile Robot. / Zhou, Xiao; Angelov, Plamen; Wang, Chu.

2008. 73-82 Paper presented at The Second International Workshop on Intelligent Vehicle Control Systems, IVCS 2008 in the framework of the 5th International Conference on Informatics in Control, Automation, and Modelling, ICINCO 2008, Funchal, Madeira, Portugal.

Research output: Contribution to conference - Without ISBN/ISSN Conference paperpeer-review

Harvard

Zhou, X, Angelov, P & Wang, C 2008, 'A Predictive Controler for Object Tracking of a Mobile Robot', Paper presented at The Second International Workshop on Intelligent Vehicle Control Systems, IVCS 2008 in the framework of the 5th International Conference on Informatics in Control, Automation, and Modelling, ICINCO 2008, Funchal, Madeira, Portugal, 11/05/08 - 15/05/08 pp. 73-82. <http://www.icinco.org/icinco2008/IVCS.htm>

APA

Zhou, X., Angelov, P., & Wang, C. (2008). A Predictive Controler for Object Tracking of a Mobile Robot. 73-82. Paper presented at The Second International Workshop on Intelligent Vehicle Control Systems, IVCS 2008 in the framework of the 5th International Conference on Informatics in Control, Automation, and Modelling, ICINCO 2008, Funchal, Madeira, Portugal. http://www.icinco.org/icinco2008/IVCS.htm

Vancouver

Zhou X, Angelov P, Wang C. A Predictive Controler for Object Tracking of a Mobile Robot. 2008. Paper presented at The Second International Workshop on Intelligent Vehicle Control Systems, IVCS 2008 in the framework of the 5th International Conference on Informatics in Control, Automation, and Modelling, ICINCO 2008, Funchal, Madeira, Portugal.

Author

Zhou, Xiao ; Angelov, Plamen ; Wang, Chu. / A Predictive Controler for Object Tracking of a Mobile Robot. Paper presented at The Second International Workshop on Intelligent Vehicle Control Systems, IVCS 2008 in the framework of the 5th International Conference on Informatics in Control, Automation, and Modelling, ICINCO 2008, Funchal, Madeira, Portugal.10 p.

Bibtex

@conference{d1912c8aea09457e825fef82c5fcd4b3,
title = "A Predictive Controler for Object Tracking of a Mobile Robot",
abstract = "In this paper a predictive controller for real-time target tracking in mobile robotics is proposed based on adaptive/evolving Takagi-Sugeno fuzzy systems, eTS. The predictive controller consists of two modules; i) a conventional fuzzy controller for robot motion control, and ii) a modelling tool for estimation of the target movements. The prediction of target movements enables the controller to be aware and to respond to the target movement in advance. Successful prediction will minimise the response delay of the conventional controller and improve the control quality. The model learning using eTS is fully automatic and performed {\textquoteleft}on fly{\textquoteright}, {\textquoteleft}from scratch{\textquoteright}. Data are processed in {\textquoteleft}one-pass{\textquoteright} manner, therefore it requires very limited computational resource and is suitable for on-board implementation on the mobile robots. Predictions are made in real-time. The same technique also has the potential to be used in the process control. Two reference controllers, a controller based on the Mamdani-Type fuzzy rule-base, and a controller based on the simple linear model, are also implemented in order to verify the proposed predictive controller. Experiments are carried out with a real mobile robot Pioneer 3DX. The performance of the three controllers is analyzed and compared.",
author = "Xiao Zhou and Plamen Angelov and Chu Wang",
year = "2008",
month = may,
day = "11",
language = "English",
pages = "73--82",
note = "The Second International Workshop on Intelligent Vehicle Control Systems, IVCS 2008 in the framework of the 5th International Conference on Informatics in Control, Automation, and Modelling, ICINCO 2008 ; Conference date: 11-05-2008 Through 15-05-2008",

}

RIS

TY - CONF

T1 - A Predictive Controler for Object Tracking of a Mobile Robot

AU - Zhou, Xiao

AU - Angelov, Plamen

AU - Wang, Chu

PY - 2008/5/11

Y1 - 2008/5/11

N2 - In this paper a predictive controller for real-time target tracking in mobile robotics is proposed based on adaptive/evolving Takagi-Sugeno fuzzy systems, eTS. The predictive controller consists of two modules; i) a conventional fuzzy controller for robot motion control, and ii) a modelling tool for estimation of the target movements. The prediction of target movements enables the controller to be aware and to respond to the target movement in advance. Successful prediction will minimise the response delay of the conventional controller and improve the control quality. The model learning using eTS is fully automatic and performed ‘on fly’, ‘from scratch’. Data are processed in ‘one-pass’ manner, therefore it requires very limited computational resource and is suitable for on-board implementation on the mobile robots. Predictions are made in real-time. The same technique also has the potential to be used in the process control. Two reference controllers, a controller based on the Mamdani-Type fuzzy rule-base, and a controller based on the simple linear model, are also implemented in order to verify the proposed predictive controller. Experiments are carried out with a real mobile robot Pioneer 3DX. The performance of the three controllers is analyzed and compared.

AB - In this paper a predictive controller for real-time target tracking in mobile robotics is proposed based on adaptive/evolving Takagi-Sugeno fuzzy systems, eTS. The predictive controller consists of two modules; i) a conventional fuzzy controller for robot motion control, and ii) a modelling tool for estimation of the target movements. The prediction of target movements enables the controller to be aware and to respond to the target movement in advance. Successful prediction will minimise the response delay of the conventional controller and improve the control quality. The model learning using eTS is fully automatic and performed ‘on fly’, ‘from scratch’. Data are processed in ‘one-pass’ manner, therefore it requires very limited computational resource and is suitable for on-board implementation on the mobile robots. Predictions are made in real-time. The same technique also has the potential to be used in the process control. Two reference controllers, a controller based on the Mamdani-Type fuzzy rule-base, and a controller based on the simple linear model, are also implemented in order to verify the proposed predictive controller. Experiments are carried out with a real mobile robot Pioneer 3DX. The performance of the three controllers is analyzed and compared.

M3 - Conference paper

SP - 73

EP - 82

T2 - The Second International Workshop on Intelligent Vehicle Control Systems, IVCS 2008 in the framework of the 5th International Conference on Informatics in Control, Automation, and Modelling, ICINCO 2008

Y2 - 11 May 2008 through 15 May 2008

ER -