Optimizing hyperparameters for mobile robot platform control

Анотація

Goal: using the real-life example of mobile robot platform Kuka YouBot determine the best suited algorithm hyperparameters for controll, self-intersection and collision avoidance. In this publication a theoretical background was given, regarding Cartesian Trajectory, Screw Trajectory and Trajectory through Via-points. Also some typical controllers as feedforward only, feedforward-plus-P controller and feedforward-plus-PI controller were reviewed and their performance was compared to each other.