Mixed-signal architecture of randomized receding horizon control for miniature robotics

Michael J. Kuhlman; Eduardo Arvelo; Shuoxin Lin; Pamela A. Abshire; Nuno C. Martins

doi:10.1109/MWSCAS.2012.6292084

Mixed-signal architecture of randomized receding horizon control for miniature robotics

Michael J. Kuhlman
, Eduardo Arvelo
, Shuoxin Lin
, Pamela A. Abshire
, Nuno C. Martins

Electrical Engineering

University of Maryland, College Park

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

Control of miniature mobile robots in unconstrained environments is an ongoing challenge. Miniature robots often exhibit nonlinear dynamics and obstacle avoidance introduces sigificant complexity in the control problem. Furthermore, miniature robots have strict power and size constraints, drastically reducing on-board processing power and severely limiting the capability of digital implementations of nonlinear model predictive controllers. To accommodate the demands of this application area, we describe the architecture of a mixed-signal mobile robot control system using randomized receding horizon control. We compare the proposed mixed-signal implementation with purely digital control systems in terms of power requirements and precision and find that the mixed-signal implementation offers significant reductions in power consumption at an acceptable loss of precision.

Original language	English
Title of host publication	2012 IEEE 55th International Midwest Symposium on Circuits and Systems, MWSCAS 2012
Pages	570-573
Number of pages	4
DOIs	https://doi.org/10.1109/MWSCAS.2012.6292084
State	Published - 2012
Event	2012 IEEE 55th International Midwest Symposium on Circuits and Systems, MWSCAS 2012 - Boise, ID, United States Duration: Aug 5 2012 → Aug 8 2012

Publication series

Name	Midwest Symposium on Circuits and Systems
ISSN (Print)	1548-3746

Conference

Conference	2012 IEEE 55th International Midwest Symposium on Circuits and Systems, MWSCAS 2012
Country/Territory	United States
City	Boise, ID
Period	08/5/12 → 08/8/12

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10.1109/MWSCAS.2012.6292084

Cite this

Kuhlman, M. J., Arvelo, E., Lin, S., Abshire, P. A., & Martins, N. C. (2012). Mixed-signal architecture of randomized receding horizon control for miniature robotics. In 2012 IEEE 55th International Midwest Symposium on Circuits and Systems, MWSCAS 2012 (pp. 570-573). Article 6292084 (Midwest Symposium on Circuits and Systems). https://doi.org/10.1109/MWSCAS.2012.6292084

@inproceedings{104ab582740844449d6f89223ec2624e,

title = "Mixed-signal architecture of randomized receding horizon control for miniature robotics",

abstract = "Control of miniature mobile robots in unconstrained environments is an ongoing challenge. Miniature robots often exhibit nonlinear dynamics and obstacle avoidance introduces sigificant complexity in the control problem. Furthermore, miniature robots have strict power and size constraints, drastically reducing on-board processing power and severely limiting the capability of digital implementations of nonlinear model predictive controllers. To accommodate the demands of this application area, we describe the architecture of a mixed-signal mobile robot control system using randomized receding horizon control. We compare the proposed mixed-signal implementation with purely digital control systems in terms of power requirements and precision and find that the mixed-signal implementation offers significant reductions in power consumption at an acceptable loss of precision.",

author = "Kuhlman, \{Michael J.\} and Eduardo Arvelo and Shuoxin Lin and Abshire, \{Pamela A.\} and Martins, \{Nuno C.\}",

year = "2012",

doi = "10.1109/MWSCAS.2012.6292084",

language = "English",

isbn = "9781467325264",

series = "Midwest Symposium on Circuits and Systems",

pages = "570--573",

booktitle = "2012 IEEE 55th International Midwest Symposium on Circuits and Systems, MWSCAS 2012",

note = "2012 IEEE 55th International Midwest Symposium on Circuits and Systems, MWSCAS 2012 ; Conference date: 05-08-2012 Through 08-08-2012",

}

Kuhlman, MJ, Arvelo, E, Lin, S, Abshire, PA & Martins, NC 2012, Mixed-signal architecture of randomized receding horizon control for miniature robotics. in 2012 IEEE 55th International Midwest Symposium on Circuits and Systems, MWSCAS 2012., 6292084, Midwest Symposium on Circuits and Systems, pp. 570-573, 2012 IEEE 55th International Midwest Symposium on Circuits and Systems, MWSCAS 2012, Boise, ID, United States, 08/5/12. https://doi.org/10.1109/MWSCAS.2012.6292084

Mixed-signal architecture of randomized receding horizon control for miniature robotics. / Kuhlman, Michael J.; Arvelo, Eduardo; Lin, Shuoxin et al.
2012 IEEE 55th International Midwest Symposium on Circuits and Systems, MWSCAS 2012. 2012. p. 570-573 6292084 (Midwest Symposium on Circuits and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Mixed-signal architecture of randomized receding horizon control for miniature robotics

AU - Kuhlman, Michael J.

AU - Arvelo, Eduardo

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AU - Abshire, Pamela A.

AU - Martins, Nuno C.

PY - 2012

Y1 - 2012

N2 - Control of miniature mobile robots in unconstrained environments is an ongoing challenge. Miniature robots often exhibit nonlinear dynamics and obstacle avoidance introduces sigificant complexity in the control problem. Furthermore, miniature robots have strict power and size constraints, drastically reducing on-board processing power and severely limiting the capability of digital implementations of nonlinear model predictive controllers. To accommodate the demands of this application area, we describe the architecture of a mixed-signal mobile robot control system using randomized receding horizon control. We compare the proposed mixed-signal implementation with purely digital control systems in terms of power requirements and precision and find that the mixed-signal implementation offers significant reductions in power consumption at an acceptable loss of precision.

AB - Control of miniature mobile robots in unconstrained environments is an ongoing challenge. Miniature robots often exhibit nonlinear dynamics and obstacle avoidance introduces sigificant complexity in the control problem. Furthermore, miniature robots have strict power and size constraints, drastically reducing on-board processing power and severely limiting the capability of digital implementations of nonlinear model predictive controllers. To accommodate the demands of this application area, we describe the architecture of a mixed-signal mobile robot control system using randomized receding horizon control. We compare the proposed mixed-signal implementation with purely digital control systems in terms of power requirements and precision and find that the mixed-signal implementation offers significant reductions in power consumption at an acceptable loss of precision.

UR - https://www.scopus.com/pages/publications/84867315588

U2 - 10.1109/MWSCAS.2012.6292084

DO - 10.1109/MWSCAS.2012.6292084

M3 - Conference contribution

AN - SCOPUS:84867315588

SN - 9781467325264

T3 - Midwest Symposium on Circuits and Systems

SP - 570

EP - 573

BT - 2012 IEEE 55th International Midwest Symposium on Circuits and Systems, MWSCAS 2012

T2 - 2012 IEEE 55th International Midwest Symposium on Circuits and Systems, MWSCAS 2012

Y2 - 5 August 2012 through 8 August 2012

ER -

Mixed-signal architecture of randomized receding horizon control for miniature robotics

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