Stochastic receding horizon control: application to an octopedal robot

Shridhar K. Shah; Herbert G. Tanner

doi:10.1117/12.2016320

3 June 2013 Stochastic receding horizon control: application to an octopedal robot

Shridhar K. Shah, Herbert G. Tanner

Proceedings Volume 8725, Micro- and Nanotechnology Sensors, Systems, and Applications V; 87251D (2013) https://doi.org/10.1117/12.2016320
Event: SPIE Defense, Security, and Sensing, 2013, Baltimore, Maryland, United States

Abstract

Miniature autonomous systems are being developed under ARL's Micro Autonomous Systems and Technology (MAST). These systems can only be fitted with a small-size processor, and their motion behavior is inherently uncertain due to manufacturing and platform-ground interactions. One way to capture this uncertainty is through a stochastic model. This paper deals with stochastic motion control design and implementation for MAST- specific eight-legged miniature crawling robots, which have been kinematically modeled as systems exhibiting the behavior of a Dubin's car with stochastic noise. The control design takes the form of stochastic receding horizon control, and is implemented on a Gumstix Overo Fire COM with 720 MHz processor and 512 MB RAM, weighing 5.5 g. The experimental results show the effectiveness of this control law for miniature autonomous systems perturbed by stochastic noise.

Citation Download Citation

Shridhar K. Shah and Herbert G. Tanner "Stochastic receding horizon control: application to an octopedal robot", Proc. SPIE 8725, Micro- and Nanotechnology Sensors, Systems, and Applications V, 87251D (3 June 2013); https://doi.org/10.1117/12.2016320

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available