scholarly journals Optimal Velocity Planning of Wheeled Mobile Robots on Specific Paths in Static and Dynamic Environments

2003 ◽  
Vol 20 (12) ◽  
pp. 737-754 ◽  
Author(s):  
María Prado ◽  
Antonio Simón ◽  
Enrique Carabias ◽  
Ana Perez ◽  
Francisco Ezquerro
Keyword(s):  
Mobile Robots ◽  
Dynamic Environments ◽  
Wheeled Mobile Robots ◽  
Optimal Velocity ◽  
Velocity Planning

Energy-Efficient Tracking Control for Automatic Guided Vehicle

2011 ◽  
Vol 138-139 ◽  
pp. 299-304 ◽  
Author(s):  
Xiao Hong Yin ◽  
Han Zhao ◽  
Can Yang
Keyword(s):  
Energy Conservation ◽  
Mobile Robots ◽  
Energy Efficient ◽  
Tracking Control ◽  
Lyapunov Theory ◽  
Stability And Convergence ◽  
Wheeled Mobile Robots ◽  
Optimal Velocity ◽  
Kinematics Modeling ◽  
Automatic Guided Vehicle

As one kind of mobile robots, the automatic guided vehicle (AGV) has been used in more and more applications. Meanwhile, some challenges in this field still exist, which limits the AGV’s further application. One of the greatest challenges is the energy conservation due to AGV’s limited energy-storage capability. Besides, the AGV tracking issue has not been well addressed yet though being studied for over two decades. This work presents an optimal velocity scheme for AGV energy-efficient tracking control, with consideration of both trajectory tracking and energy conservation involved in a nonlinear optimization problem. The proposed controller possesses the easiness for design and universality for kinematics modeling of other wheeled mobile robots. In addition, the controller’s stability and convergence were proved using Lyapunov theory. Finally, the computer simulation results demonstrated the effectiveness of the proposed controller.

scholarly journals Trend-aware motion planning for wheeled mobile robots operating in dynamic environments

2020 ◽  
Vol 17 (4) ◽  
pp. 172988142092529
Author(s):  
Sheng Liu ◽  
Fengji Dai ◽  
Shaobo Zhang ◽  
Yangqing Wang ◽  
Zhenhua Wang
Keyword(s):  
Motion Estimation ◽  
Motion Planning ◽  
Mobile Robots ◽  
Dynamic Environments ◽  
Poor Quality ◽  
Motion Prediction ◽  
Optimization Approach ◽  
Elastic Band ◽  
Wheeled Mobile Robots

Planning collision-free trajectories is essential for wheeled mobile robots operating in dynamic environments safely and efficiently. Most current trajectory generation methods focus on achieving optimal trajectories in static maps and considering dynamic obstacles as static depending on the precise motion estimation of the obstacles. However, in realistic applications, dealing with dynamic obstacles that have low reliable motion estimation is a common situation. Furthermore, inaccurate motion estimation leads to poor quality of motion prediction. To generate safe and smooth trajectories in such a dynamic environment, we propose a motion planning algorithm called trend-aware motion planning (TAMP) for dynamic obstacle avoidance, which combines with timed-elastic band. Instead of considering dynamic obstacles as static, our planning approach predicts the moving trends of the obstacles based on the given estimation. Subsequently, the approach generates a trajectory away from dynamic obstacles, meanwhile, avoiding the moving trends of the obstacles. To cope with multiple constraints, an optimization approach is adopted to refine the generated trajectory and minimize the cost. A comparison of our approach against other state-of-the-art methods is conducted. Results show that trajectories generated by TAMP are robust to handle the poor quality of obstacles’ motion prediction and have better efficiency and performance.

Formation control of multiple mecanum-wheeled mobile robots with physical constraints and uncertainties

2021 ◽  
Author(s):  
Dongliang Wang ◽  
Wu Wei ◽  
Xinmei Wang ◽  
Yong Gao ◽  
Yanjie Li ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Wheeled Mobile Robots ◽  
Physical Constraints
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