Standard
A predictive controller for object tracking of a mobile robot. / Zhou, Xiaowei
; Angelov, Plamen; Wang, Chengwei.
Intelligent Vehicle Control Systems - Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems, IVCS 2008; In Conjunction with ICINCO 2008. SciTePress, 2008. p. 73-82 (Intelligent Vehicle Control Systems - Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems, IVCS 2008; In Conjunction with ICINCO 2008).
Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review
Harvard
Zhou, X
, Angelov, P & Wang, C 2008,
A predictive controller for object tracking of a mobile robot. in
Intelligent Vehicle Control Systems - Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems, IVCS 2008; In Conjunction with ICINCO 2008. Intelligent Vehicle Control Systems - Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems, IVCS 2008; In Conjunction with ICINCO 2008, SciTePress, pp. 73-82, 2nd International Workshop on Intelligent Vehicle Control Systems, IVCS 2008; In Conjunction with ICINCO 2008, Madeira, Portugal,
11/05/08.
https://doi.org/10.5220/0001509600730082APA
Vancouver
Zhou X
, Angelov P, Wang C.
A predictive controller for object tracking of a mobile robot. In Intelligent Vehicle Control Systems - Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems, IVCS 2008; In Conjunction with ICINCO 2008. SciTePress. 2008. p. 73-82. (Intelligent Vehicle Control Systems - Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems, IVCS 2008; In Conjunction with ICINCO 2008). doi: 10.5220/0001509600730082
Author
Zhou, Xiaowei
; Angelov, Plamen ; Wang, Chengwei. /
A predictive controller for object tracking of a mobile robot. Intelligent Vehicle Control Systems - Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems, IVCS 2008; In Conjunction with ICINCO 2008. SciTePress, 2008. pp. 73-82 (Intelligent Vehicle Control Systems - Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems, IVCS 2008; In Conjunction with ICINCO 2008).
Bibtex
@inproceedings{03a83a88643a4446b73d179eeddfb7db,
title = "A predictive controller 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 '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.",
author = "Xiaowei Zhou and Plamen Angelov and Chengwei Wang",
year = "2008",
month = dec,
day = "1",
doi = "10.5220/0001509600730082",
language = "English",
isbn = "9789898111340",
series = "Intelligent Vehicle Control Systems - Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems, IVCS 2008; In Conjunction with ICINCO 2008",
publisher = "SciTePress",
pages = "73--82",
booktitle = "Intelligent Vehicle Control Systems - Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems, IVCS 2008; In Conjunction with ICINCO 2008",
note = "2nd International Workshop on Intelligent Vehicle Control Systems, IVCS 2008; In Conjunction with ICINCO 2008 ; Conference date: 11-05-2008 Through 15-05-2008",
}
RIS
TY - GEN
T1 - A predictive controller for object tracking of a mobile robot
AU - Zhou, Xiaowei
AU - Angelov, Plamen
AU - Wang, Chengwei
PY - 2008/12/1
Y1 - 2008/12/1
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.
U2 - 10.5220/0001509600730082
DO - 10.5220/0001509600730082
M3 - Conference contribution/Paper
AN - SCOPUS:58049137980
SN - 9789898111340
T3 - Intelligent Vehicle Control Systems - Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems, IVCS 2008; In Conjunction with ICINCO 2008
SP - 73
EP - 82
BT - Intelligent Vehicle Control Systems - Proceedings of the 2nd International Workshop on Intelligent Vehicle Control Systems, IVCS 2008; In Conjunction with ICINCO 2008
PB - SciTePress
T2 - 2nd International Workshop on Intelligent Vehicle Control Systems, IVCS 2008; In Conjunction with ICINCO 2008
Y2 - 11 May 2008 through 15 May 2008
ER -
