Experimental Path tracking optimization and control of a nonlinear skid steering tracked mobile robot

2020 ◽  
Author(s):  
Mohamed Hesham Barakat ◽  
Hossam Hassan Ammar ◽  
Mahmoud Elsamanty
Keyword(s):  
Mobile Robot ◽  
Path Tracking ◽  
Optimization And Control ◽  
Skid Steering ◽  
And Control ◽  
Tracked Mobile Robot

Path Tracking Control of Micro-Tracked Mobile Robot

2014 ◽  
Vol 644-650 ◽  
pp. 265-271 ◽  
Author(s):  
Jian Gao ◽  
Shi Long Zhang
Keyword(s):  
Mobile Robot ◽  
Tracking Control ◽  
Tracking Error ◽  
Kinematic Model ◽  
Path Tracking ◽  
Positioning Accuracy ◽  
And Control ◽  
Tracked Mobile Robot ◽  
The Given ◽  
Motor Model

The positioning accuracy of tracked mobile robot is low because of sliding in steering process. Taking the micro-tracked mobile robot as the platform, the interface force between tracks and ground was analyzed, and the motor model, kinematic model and dynamic model were established further. A tracking error controller was built based on the tracking error equations, and the co-simulation of mechanical and control system was applied to predict the robot’s trajectory. That controller was applied on a small tracked mobile robot designed by the authors’ laboratory, and the path tracking experiments with and without obstacles had been done. The results show that the robot can accurately track the given path, whether there are obstacles or not.

DEVELOPMENT OF COMPUTERIZED MONITORING AND CONTROL SYSTEM OF THE MOBILE ROBOT’S POSITIONING ON LARGE FERROMAGNETIC SURFACES BASED ON INTELLIGENT TECHNIQUES. AUTOMATION OF THE MONITORING AND CONTROL PROCESSES OF MOBILE ROBOT FOR PROCESSING OF LARGE INCLINED SURFACES

2019 ◽  
pp. 41-48
Author(s):  
Yan Guojun ◽  
Oleksiy Kozlov ◽  
Oleksandr Gerasin ◽  
Galyna Kondratenko
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Functional Structure ◽  
Monitoring And Control ◽  
Technological Parameters ◽  
Monitoring And Control System ◽  
Inclined Surfaces ◽  
Computerized Monitoring ◽  
And Control ◽  
Tracked Mobile Robot

The article renders the special features of the design of a tracked mobile robot (MR) for moving over inclined ferromagnetic surfaces while performing specified technological operations. There is conducted a synthesis of the functional structure and selective technological parameters (such as control coordinates) of the computerized monitoring and control system (CMCS) intended for use with this MR. Application of the CMCS with the proposed functional structure allows substantially increasing the accuracy of the MR monitoring and control, which in turn provides for a considerable enhancement in the quality and economic efficiency of the operations on processing of large ferromagnetic surfaces.

scholarly journals TRAJECTORY TRACKING CONTROL FOR 4 WHEEL SKID-STEERING MOBILE ROBOT

2010 ◽  
Vol 13 (3) ◽  
pp. 83-94
Author(s):  
Nghin Van Dang ◽  
Khanh Van Quoc Nguyen
Keyword(s):  
Mobile Robot ◽  
Feedback Linearization ◽  
Nonholonomic System ◽  
Lagrange Equation ◽  
Kinematic Model ◽  
Nonholonomic Constraints ◽  
Trajectory Tracking Control ◽  
System A ◽  
Skid Steering ◽  
And Control

By applying a nonholonomic constraints and Lagrange equation for nonholonomic system, a method is given to model and control the 4-wheel skid-steering mobile robot which tracks a given trajectory. First at all, a fundamental of nonholonomic system is introduced. Next, the skid steering robot’s kinematic model and dynamic model are considered. To control the robot tracking a trajectory, a new algorithm is given by applying feedback linearization and PD control. In addition, simulation results show the good performance in tracking trajectories.

Modeling and Control of a Tracked Mobile Robot for Pipeline Inspection

2020 ◽  
Author(s):  
Michał Ciszewski ◽  
Mariusz Giergiel ◽  
Tomasz Buratowski ◽  
Piotr Małka
Keyword(s):  
Mobile Robot ◽  
Modeling And Control ◽  
Pipeline Inspection ◽  
And Control ◽  
Tracked Mobile Robot
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