Authors
Chia-Jen Lin1, Chun-Chi Lai2, *, Kuo-Hsien Hsia2, Chin-Sheng Chen1
1Graduate Institute of Automation Technology, National Taipei University
of Technology, 1, Sec. 3, Zhongxiao E. Rd., Taipei, Taiwan 10608, R.O.C.
2Bachelor Program in Interdisciplinary Studies, National Yunlin University
of Science and Technology, 123 University Road, Section 3, Douliou, Yunlin,
Taiwan 64002, R.O.C.
*Corresponding author. Email: [email protected]
Corresponding Author
Chun-Chi Lai
Received 14 October 2019, Accepted 29 May 2020, Available Online 14 September
2020.
DOI
https://doi.org/10.2991/jrnal.k.200909.010
Keywords
Mode-free adaptive control; dynamic window approach; path follower; mobile
service robot
Abstract
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.
Copyright
© 2020 The Authors. Published by ALife Robotics Corp. Ltd.
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/).