Path Tracking and Optimization for Mecanum-Wheeled Robot via Linear Angle-to-Gain (LA-G) Method

2019 ◽  
pp. 35-48
Author(s):  
J. S. Keek ◽  
S. L. Loh ◽  
S. H. Chong
Keyword(s):  
Path Tracking ◽  
Wheeled Robot

Modeling and path-tracking control of a mobile wheeled robot with a differential drive

Robotica ◽  
1995 ◽  
Vol 13 (4) ◽  
pp. 401-410 ◽  
Author(s):  
R. M. DeSantis
Keyword(s):  
Tracking Control ◽  
Linear Time ◽  
Path Tracking ◽  
Modeling And Control ◽  
Differential Drive ◽  
Linear Time Invariant ◽  
Wheeled Robot ◽  
And Control ◽  
Time Invariant ◽  
Kinematic Properties

SummaryTopics relevant to modeling and control of mobile wheeled robots with a differential drive are discussed by assuming a motion that is planar and free from lateral and longitudinal slippages, and by taking into account dynamic and kinematic properties of the vehicle. Based on the concept of geometric path-tracking, a controller is designed that is a memoryless function of the lateral, heading, and velocity path-tracking offsets. If these offsets are kept small and the assigned tracking velocity is constant, then this controller may be given a linear, time-invariant and decoupled PID (Proportional + integral + derivative) structure.

Research on Wheeled Robot Path Tracking Based on Fuzzy Neural Network

2014 ◽  
Vol 602-605 ◽  
pp. 1270-1274
Author(s):  
Shuo Yang ◽  
Bo Quan Zhang ◽  
Mao Ying Jia
Keyword(s):  
Neural Network ◽  
High Speed ◽  
Fuzzy Neural Network ◽  
Path Tracking ◽  
Second Stage ◽  
Wheeled Robot ◽  
Fuzzy Neural ◽  
Turning Radius ◽  
Path Tracking Method ◽  
Robot Path

To solve the problem that wheeled robot in the path tracking is prone to slip or roll over at a sharp curve, structure of the wheeled robot and its path tracking features are analyzed, and a new Fuzzy-Neural Network (FNN) based path tracking method of two-stage (route and speed) control is proposed. In the first stage, a FNN controller determines the robot’s turning radius by processing robot’s pose information. In the second stage, the secondary controller adjusts angular and linear velocities by taking advantage of the turning radius and condition of the path ahead. The experiments show that the controlled robot can track the planned path accurately and robustly when it runs at high speed; the process of path tracking is stable and no slipping and rolling occur.

scholarly journals Path tracking mobile robot using steppers

2019 ◽  
Vol 87 ◽  
pp. 01028
Author(s):  
Ankit Deo ◽  
Ayush Gupta ◽  
Himanshu Khemani ◽  
Rashmi Ranjan Das
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Control Algorithm ◽  
Path Tracking ◽  
3D Mapping ◽  
Precise Control ◽  
Dc Motors ◽  
Wheeled Robot ◽  
Stepper Motors

In control of mobile robots, precision plays a key role in path tracking. In this paper we have intended to use hybrid stepper motors for precise control of the two wheeled robot. A control algorithm was developed to control the robot along different trajectories. We have found that stepper motors are more accurate for path tracking than normal DC motors with wheel encoders and one can obtain the implicit coordinates of the robot in runtime more precisely. Getting the precise coordinates of the robot at runtime can be used in various SLAM and VSLAM techniques for more accurate 3D mapping of the environment.

Wheeled Robot Path Tracking Study Based on IMM Algorithm

2014 ◽  
Vol 1037 ◽  
pp. 228-231
Author(s):  
Li Cai ◽  
Jian Ping Jia
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Real Time ◽  
Path Tracking ◽  
Wheeled Mobile Robot ◽  
Robot Design ◽  
Matlab Software ◽  
Wheeled Robot ◽  
Simulation Results ◽  
Robot Path

This paper proposes a wheeled robot design based on IMM algorithm , aiming at how to achieve the optimization of path planning. Obstacle detecting and avoidance method for mobile robot are implemented with the photoelectric sensors. Then IMM algorithm for path planning is introduced and the simulation results in the MATLAB software show that the method of introducing IMM into mobile robot is convenient. By this means, the path planning is well optimized in real-time way for wheeled mobile robot.

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

2020 ◽  
Vol 17 (2) ◽  
pp. 7996-8010
Author(s):  
X. Wu ◽  
Y. Yang
Keyword(s):  
Control System ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Threshold Value ◽  
Position Angle ◽  
Path Tracking ◽  
Global Coordinate System ◽  
Automatic Guided Vehicle ◽  
Input Variables ◽  
Industrial Pc

This paper presents a new design of omnidirectional automatic guided vehicle based on a hub motor, and proposes a joint controller for path tracking. The proposed controller includes two parts: a fuzzy controller and a multi-step predictive optimal controller. Firstly, based on various steering conditions, the kinematics model of the whole vehicle and the pose (position, angle) model in the global coordinate system are introduced. Secondly, based on the modeling, the joint controller is designed. Lateral deviation and course deviation are used as the input variables of the control system, and the threshold value is switched according to the value of the input variable to realise the correction of the large range of posture deviation. Finally, the joint controller is implemented by using the industrial PC and the self-developed control system based on the Freescale minimum system. Path tracking experiments were made under the straight and circular paths to test the ability of the joint controller for reducing the pose deviation. The experimental results show that the designed guided vehicle has excellent ability to path tracking, which meets the design goals.

Motion Control of Industrial Robot by Considering Vibration Suppression and Fast Path Tracking

2010 ◽  
Vol 130 (3) ◽  
pp. 375-384
Author(s):  
Satoru Kumagai ◽  
Toshimasa Miyazaki ◽  
Kiyoshi Ohishi
Keyword(s):  
Motion Control ◽  
Vibration Suppression ◽  
Industrial Robot ◽  
Path Tracking
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