Name
Abstract | ||
|---|---|---|
Multi-link wheeled robots provide interesting opportunities within many areas such as inspection and maintenance of pipes or vents. A key functionality in order to perform such operations, is that the robot can follow a predefined path fast and accurately. In this paper we present an algorithm to learn the path-following behavior for a set of motion primitives. These primitives could then be used by a planner in order to construct longer paths. The algorithm is divided into two steps: an example-based stage for controller learning, and a controller tuning stage, based on an objective function and simulations of the path-following process. The path-following controllers have been tested with a simulator of a multi-link robot in several complex paths, showing an excellent performance. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1007/978-3-642-25489-5_51 | ICIRA |
Keywords | Field | DocType |
excellent performance,multi-link robot,path-following controller,complex path,path-following process,example-based stage,snake-like robot,interesting opportunity,key functionality,path-following behavior,path-following skill,controller learning,intelligent controller | Robot learning,Robot control,Social robot,Control theory,Control theory,Planner,Control engineering,Fuzzy control system,Engineering,Robot,Mobile robot | Conference |
Volume | ISSN | Citations |
7102.0 | 0302-9743 | 0 |
PageRank | References | Authors |
0.34 | 9 | 6 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Francisco Javier Marín | 1 | 2 | 1.17 |
| jorge casillas | 2 | 927 | 46.64 |
| Manuel Mucientes | 3 | 378 | 35.05 |
| Aksel Andreas Transeth | 4 | 62 | 7.17 |
| Sigurd Aksnes Fjerdingen | 5 | 14 | 2.46 |
| Ingrid Schjølberg | 6 | 4 | 1.90 |