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Intelligent adaptive control of a mobile robot: The automaton with an internal and external parameter approach

Published online by Cambridge University Press:  09 March 2009

Jan Kazimierczak  and
Barbara Łysakowska
Jan Kazimierczak
Affiliation:
Institute of Engineering Cybernetics, Technical University of Wroclaw, ul. Janiszewskiego 11/17, 50–3752 Wrocław (Poland)
Barbara Łysakowska
Affiliation:
Institute of Engineering Cybernetics, Technical University of Wroclaw, ul. Janiszewskiego 11/17, 50–3752 Wrocław (Poland)
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Summary

In the paper a formal model is presented of the discrete control of a bile robot moving over a plane. The model synthesis has been directed in such a way as to justify the use as a controller of the automaton with internal and external parameters. It has been shown that, while controlled in discrete time the mobile robot performance can be expressed by a one-sidely optimized tree of a two-person extensive game. The tree, after transforming into the form of the state diagram of an automaton, serves as a basis for the synthesis of the automaton with internal and external parameters playing the role of a controller. A method is presented of synthesizing an automaton of this type, being a hardware realization of the mobile robot controller.

Keywords

AdaptiveControlIntelligentMobileRobot
Type
Research Article
Information
Robotica , Volume 6 , Issue 4 , October 1988 , pp. 319 - 326
Copyright
Copyright © Cambridge University Press 1988

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