Stable contour-following control of wheeled mobile robots

Robotica ◽  
2009 ◽  
Vol 27 (1) ◽  
pp. 1-12 ◽  
Author(s):  
Juan Marcos Toibero ◽  
Flavio Roberti ◽  
Ricardo Carelli
Keyword(s):  
Control System ◽  
Mobile Robots ◽  
Control Algorithms ◽  
Wheeled Mobile Robots ◽  
Distance Information ◽  
Straight Wall ◽  
The Stability ◽  
Office Environments ◽  
Wall Following ◽  
Velocity Command

SUMMARYThis paper presents a continuous wall-following controller for wheeled mobile robots based on odometry and distance information. The reference for this controller is the desired distance from the robot to the wall and allows the robot to follow straight wall contour as well as smoothly varying wall contours by including the curvature of the wall into the controller. The asymptotic stability of the control system is proved using a Lyapunov analysis. The controller is designed so as to avoid saturation of the angular velocity command to the robot. A novel switching scheme is also proposed that allows the robot to follow discontinuous contours allowing the robotic system to deal with typical problems of continuous wall-following controllers such as open corners and possible collisions. This strategy overcomes these instances by switching between dedicated behavior-based controllers. The stability of the switching control system is discussed by considering Lyapunov concepts. The proposed control systems are verified experimentally in laboratory and office environments to show the feasibility and good performance of the control algorithms.

scholarly journals Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain

2014 ◽  
Vol 2014 ◽  
pp. 1-13
Author(s):  
Zhengcai Li ◽  
Yang Wang
Keyword(s):  
Control System ◽  
Mobile Robots ◽  
Coordinated Control ◽  
Challenging Problem ◽  
Adaptive Neural Network ◽  
Wheeled Mobile Robots ◽  
Slip Ratio ◽  
Planetary Rovers ◽  
State Variable ◽  
Longitudinal Slip

A challenging problem faced by wheeled mobile robots (WMRs) such as planetary rovers traversing loose sloped terrain is the inevitable longitudinal slip suffered by the wheels, which often leads to their deviation from the predetermined trajectory, reduced drive efficiency, and possible failures. This study investigates this problem using terramechanics analysis of the wheel-soil interaction. First, a slope-based wheel-soil interaction terramechanics model is built, and an online slip coordinated algorithm is designed based on the goal of optimal drive efficiency. An equation of state is established using the coordinated slip as the desired input and the actual slip as a state variable. To improve the robustness and adaptability of the control system, an adaptive neural network is designed. Analytical results and those of a simulation using Vortex demonstrate the significantly improved mobile performance of the WMR using the proposed control system.

scholarly journals Finite Horizon Robust Nonlinear Model Predictive Control for Wheeled Mobile Robots

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Phuong Nam Dao ◽  
Hong Quang Nguyen ◽  
Thanh Long Nguyen ◽  
Xuan Sinh Mai
Keyword(s):  
Model Predictive Control ◽  
Mobile Robots ◽  
Predictive Control ◽  
Finite Horizon ◽  
Initial State ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Control Scheme ◽  
The Stability ◽  
Computation Load

The control of mobile robotic systems with input constraints is still a remarkable problem for many applications. This paper studies the model predictive control-based kinematic control scheme after implementing the decoupling technique of wheeled mobile robots (WMRs). This method enables us to obtain the easier optimization problem with fixed initial state. The finite horizon in cost function of model predictive control (MPC) algorithm requires the appropriate terminal controller as well as the equivalent terminal region. The stability of MPC is determined by feasible control sequence. Finally, offline simulation results validate that the computation load is significantly reduced and also validate trajectory tracking control effectiveness of our proposed control scheme.

WALL-FOLLOWING STABLE CONTROL FOR WHEELED MOBILE ROBOTS

2006 ◽  
Vol 39 (15) ◽  
pp. 85-90 ◽  
Author(s):  
J.M. Toibero ◽  
R. Carelli ◽  
B. Kuchen
Keyword(s):  
Mobile Robots ◽  
Wheeled Mobile Robots ◽  
Stable Control ◽  
Wall Following

scholarly journals Control algorithms for the emergence of self-organized behaviours in swarms of differential-traction wheeled mobile robots

2018 ◽  
Vol 15 (6) ◽  
pp. 172988141880643 ◽  
Author(s):  
R Martínez-Clark ◽  
C Cruz-Hernández ◽  
J Pliego-Jimenez ◽  
A Arellano-Delgado
Keyword(s):  
Mobile Robots ◽  
Swarm Robotics ◽  
Radial Distance ◽  
Polar Coordinates ◽  
Control Algorithms ◽  
Control Law ◽  
Wheeled Mobile Robots ◽  
Self Organized ◽  
Robotic Swarm ◽  
Posture Regulation

This article proposes three control algorithms for the emergence of self-organized behaviours, including aggregation, flocking and rendezvous, in swarm robotics systems. The proposed control algorithms are based on a local polar coordinates’ control law available in the literature for posture regulation; this law is adapted to work in a self-organized robotic swarm using distance and bearing as coupling information. Therefore, the robots only need to know the radial distance and orientation to the goal; additionally, the three algorithms are based on self-organization, eliminating the need for a preset coupling topology among the robots. In particular, the flocking algorithm has a first stage for topology creation, while the rendezvous and aggregation algorithms change the topology on every iteration depending on the local interactions of the robots. The effectiveness of the algorithms was evaluated through numerical simulations of swarms of up to 100 differential traction wheeled mobile robots.

Mobile Robot Movement Analysis and Design

2012 ◽  
Vol 490-495 ◽  
pp. 2480-2483
Author(s):  
Xue Peng Liu ◽  
Dong Mei Zhao
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
System Design ◽  
Movement Analysis ◽  
Wheeled Mobile Robots ◽  
Analysis And Design ◽  
Robot Trajectory ◽  
Circular Track ◽  
Curve Track ◽  
The Stability

The mobile robot trajectory curve track and circular track arc analyzed. The stability condition of wheeled mobile robots is discussed. A new robots walk system design is presented. And the walking process is analyzed.

scholarly journals Design and Fabrication of Rocker Bogie Mechanism

2021 ◽  
Vol 9 (VI) ◽  
pp. 1033-1037
Author(s):  
Mayank Tamgadge
Keyword(s):  
Mobile Robots ◽  
Control Strategy ◽  
High Speed ◽  
Wheeled Mobile Robots ◽  
Support Design ◽  
Average Speed ◽  
Design Structure ◽  
Different Types ◽  
The Stability ◽  
Step Over

The rocker-bogie suspension mechanism its currently NASAs one of the favourite design for wheeled mobile robots, mainly because it has multipurpose capabilities to deal with different types of surface and obstacles because it uniformly distributes the overall weight over its 6 wheels at all times. That's why it has many advantages when dealing with obstacles, there is one of the disadvantage is its low average speed of operation, the rocker bogie system generally not suitable for situations where high-speed operations for which to cover large surfaces Areas. mainly due to stability problems. Our purpose is to increase the stability of the rocker-bogie mechanism system by expanding its support design structure, making it more stable and flexible while moving at high speed, at different surfaces but keeping its original flexibility against obstacles. Most of the flexibility of this method can be achieved without any mechanical modification to existing designs only a change in control strategy. Some mechanical changes are required to Achieve the maximum Advantages and to increase the rover operations speed in future. We will develop a method of driving a rocker-bogie vehicle so that it can effectively step over most obstacles rather than impacting and climbing over them. The Rocker-Bogie Mechanism system was designed to be used at slow speeds. It is capable of overcoming obstacles that are depends upon the size of a wheel.

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