An Exponential Decreased Kinematic and PID Low Level Control Schemes for an Omni-Wheeled Mobile Robot

2021 ◽  
Author(s):  
Indrazno Siradjuddin ◽  
Totok Winarno ◽  
Muhammad Khairuddin ◽  
Mas Nurul Achmadiah ◽  
Rendi Pambudi Wicaksono ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Level Control ◽  
Low Level ◽  
Control Schemes

Modeling and Robust Low Level Control of an Omnidirectional Mobile Robot

2017 ◽  
Vol 139 (4) ◽  
Author(s):  
Ramon Comasolivas ◽  
Joseba Quevedo ◽  
Teresa Escobet ◽  
Antoni Escobet ◽  
Juli Romera
Keyword(s):  
Mobile Robot ◽  
Pi Controller ◽  
Control Technique ◽  
Level Control ◽  
Parameter Uncertainties ◽  
Control Effort ◽  
Friction Forces ◽  
Low Level ◽  
Stability And Control ◽  
And Control

This paper presents the modeling and robust low-level control design of a redundant mobile robot with four omnidirectional wheels, the iSense Robotic (iSRob) platform, that was designed to test safe control algorithms. iSRob is a multivariable nonlinear system subject to parameter uncertainties mainly due to friction forces. A multilinear model is proposed to approximate the behavior of the system, and the parameters of these models are estimated from closed-loop experimental data applying Gauss–Newton techniques. A robust control technique, quantitative feedback theory (QFT), is applied to design a proportional–integral (PI) controller for robust low-level control of the iSRob system, being this the main contribution of the paper. The designed controller is implemented, tested, and compared with a gain-scheduling PI-controller based on pole assignment. The experimental results show that robust stability and control effort margins against system uncertainties are satisfied and demonstrate better performance than the other controllers used for comparison.

Buckybot: A Robot Based on the Geometry of a Truncated Icosahedron

2014 ◽  
Author(s):  
Michael D. M. Kutzer ◽  
Christopher Y. Brown ◽  
Gregory S. Chirikjian ◽  
Mehran Armand
Keyword(s):  
Mobile Robot ◽  
Trajectory Planning ◽  
Mobile Platform ◽  
Control Algorithms ◽  
Level Control ◽  
Soccer Ball ◽  
Low Level ◽  
Symmetric Geometry

This paper introduces Buckybot, a novel mobile platform, and investigates its kinematics and preliminary control algorithms. Buckybot is a ground-based platform whose geometry is based on a truncated icosahedron, i.e. a soccer ball with flattened sides. The platform has 20 passive hexagonal faces on which it can stably rest, and 12 rounded pentagonal faces which can be extended linearly to tilt Buckybot. The symmetric geometry of the robot makes it operational in any configuration which is ideal for a variety of deployment scenarios including throwing or dropping. Buckybot currently locomotes using a semi-static tipping gait to move between adjacent hexagonal faces. In this work, we present the design and low-level control of the Buckybot platform, explore the kinematics associated with Buckybot’s method of locomotion, experimentally characterize tipping, and investigate trajectory planning for this new mobile robot. Results demonstrate effective trajectory planning accounting for plan uncertainty.

scholarly journals FUZZY CONTROL OF DIFFERENTIAL DRIVE MOBILE ROBOT FOR MOVING TARGET TRACKING

2017 ◽  
Vol 16 (2) ◽  
pp. 83
Author(s):  
Emina Petrović ◽  
Miloš Simonović ◽  
Vlastimir Nikolić
Keyword(s):  
Mobile Robot ◽  
Moving Objects ◽  
Mobile Robotics ◽  
Position Control ◽  
Hierarchical Control ◽  
Circular Path ◽  
Level Control ◽  
Low Level ◽  
Angular Velocities ◽  
High Level

Tracking of moving objects, including humans has important role in mobile robotics. In this paper, the hierarchical control structure for target/human tracking consisted of high and low level control was presented. The low level subsystem deals with the control of the linear and angular velocities using multivariable PD controller whose parameters are obtained by Particle swarm optimization. The position control of the mobile robot represents the high level control, where we use two fuzzy logic Mamdani controllers for distance and angle control. In order to test the effectiveness of the proposed control scheme a simulation was performed. Two cases, when the mobile robot pursues a target moving along a circular path and when the mobile robot pursues a target moving along a rectangle path, were simulated.

Regular perturbations to the motion of a three-wheeled mobile robot with the front-wheel drive under restricted state variables*

2020 ◽  
Author(s):  
Roman Chertovskih ◽  
Anna Daryina ◽  
Askhat Diveev ◽  
Dmitry Karamzin ◽  
Fernando L. Pereira ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Front Wheel ◽  
Wheeled Mobile Robot ◽  
State Variables ◽  
Wheel Drive
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