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Copyright © 2014 Shuhuan Wen et al. Shuhuan Wen et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

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We present a fractional order PI controller (FOPI) with SLAM method, and the proposed method is used in the simulation of navigation of NAO humanoid robot from Aldebaran. We can discretize the transfer function by the Al-Alaoui generating function and then get the FOPI controller by Power Series Expansion (PSE). FOPI can be used as a correction part to reduce the accumulated error of SLAM. In the FOPI controller, the parameters ([subscript]Kp[/subscript] ,[subscript]Ki[/subscript] , and α ) need to be tuned to obtain the best performance. Finally, we compare the results of position without controller and with PI controller, FOPI controller. The simulations show that the FOPI controller can reduce the error between the real position and estimated position. The proposed method is efficient and reliable for NAO navigation.

Details

Title
The Study of Fractional Order Controller with SLAM in the Humanoid Robot
Author
Wen, Shuhuan; Chen, Xiao; Zhao, Yongsheng; Rad, Ahmad B; Kamal Mohammed Othman; Zhang, Ethan
Publication year
2014
Publication date
2014
Publisher
John Wiley & Sons, Inc.
ISSN
16879120
e-ISSN
16879139
Source type
Scholarly Journal
Language of publication
English
ProQuest document ID
1566428469
Copyright
Copyright © 2014 Shuhuan Wen et al. Shuhuan Wen et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.