On the Tracking Control of Differentially Steered Wheeled Mobile Robots

1997 ◽  
Vol 119 (3) ◽  
pp. 455-461 ◽  
Author(s):  
Y. L Zhang ◽  
S. A. Velinsky ◽  
X. Feng
Keyword(s):  
Mobile Robot ◽  
Tracking Control ◽  
Control Algorithms ◽  
Position Tracking ◽  
Wheeled Mobile Robots ◽  
Tracking Ability ◽  
Exact Position ◽  
Position And Orientation ◽  
Robot Configuration ◽  
Tracking Point

Fundamental tracking control algorithms of a differentially steered wheeled mobile robot with two conventional driven wheels are studied through analyzing the robot’s inherent kinematics. This includes the tracking variable assignment as well as the tracking singularity and position-orientation tracking decoupling problems. Globally convergent tracking control algorithms are proposed, which can exactly track any differentiable reference path. A fundamental motion orientation equation under the condition of exact position tracking is developed, and it is shown that it is not possible to exactly track both position and orientation concurrently for this kind of mobile robot configuration if the tracking point is not on the baseline. Examples are provided illustrating the tracking ability of the developed control algorithms.

scholarly journals Verification hybrid control of a wheeled mobile robot and manipulator

2016 ◽  
Vol 6 (1) ◽  
Author(s):  
Magdalena Muszynska ◽  
Andrzej Burghardt ◽  
Krzysztof Kurc ◽  
Dariusz Szybicki
Keyword(s):  
Mobile Robot ◽  
Tracking Control ◽  
Fuzzy Systems ◽  
Hybrid Control ◽  
Work Conditions ◽  
Control Algorithms ◽  
Control Task ◽  
Wheeled Mobile Robots ◽  
Controlled Systems ◽  
On Line

Abstract In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system’s nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was verification on the real object which was a Scorbot - ER 4pc robotic manipulator and a Pioneer - 2DX mobile robot.

HOLONOMIC AND OMNIDIRECTIONAL LOCOMOTION SYSTEMS FOR WHEELED MOBILE ROBOTS: A REVIEW

2015 ◽  
Vol 77 (28) ◽  
Author(s):  
M. Juhairi Aziz Safar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Degrees Of Freedom ◽  
Wheeled Mobile Robot ◽  
Arbitrary Direction ◽  
Current Position ◽  
Wheeled Mobile Robots ◽  
Future Improvement ◽  
Position And Orientation ◽  
Three Degrees Of Freedom

Holonomic and omnidirectional locomotion systems are best known for their capability to maneuver at any arbitrary direction regardless of their current position and orientation with a three degrees of freedom mobility. This paper summarizes the advancement of holonomic and omnidirectional locomotion systems for wheeled mobile robot applications and discuss the issues and challenges for future improvement.

Wheeled Mobile Robot Tracking Control without Velocity Measurement

2013 ◽  
Vol 373-375 ◽  
pp. 231-237 ◽  
Author(s):  
Qiang Wang ◽  
Guang Tong ◽  
Xin Xing
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Velocity Measurement ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Design Parameters ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Robot Tracking ◽  
Control Scheme

In this paper, a new robust trajectory tracking control scheme for wheeled mobile robots without velocity measurement is proposed. In the proposed controller, the velocity observer is used to estimate the velocity of wheeled mobile robot. The dynamics of wheeled mobile robot is considered to develop the controller. The proposed controller has the following features: i) The proposed controller has good robustness performance; ii) It is easy to improve tracking performance by setting only one design parameters.

scholarly journals Modeling and Analysis in Trajectory Tracking Control for Wheeled Mobile Robots with Wheel Skidding and Slipping: Disturbance Rejection Perspective

Actuators ◽  
2021 ◽  
Vol 10 (9) ◽  
pp. 222
Author(s):  
Xiaoshan Gao ◽  
Liang Yan ◽  
Chris Gerada
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Dynamic Models ◽  
Nonholonomic Constraints ◽  
Disturbance Attenuation ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Control Scheme

Wheeled mobile robot (WMR) is usually applicable for executing an operational task around complicated environment; skidding and slipping phenomena unavoidably appear during the motion, which thus can compromise the accomplishment of the task. This paper investigates the trajectory tracking control problem of WMRs via disturbance rejection in the presence of wheel skidding and slipping phenomena. The kinematic and dynamic models with the perturbed nonholonomic constraints are established. The trajectory tracking control scheme at the dynamic level is designed so that the mobile robot system can track the virtual velocity asymptotically, and counteract the perturbation caused by the unknown skidding and slipping of wheels. Both simulation and experimental works are conducted, and the results prove the performance of the proposed control scheme is effective in terms of tracking precision and disturbance attenuation.

Continuous mobility of mobile robots with a special ability for overcoming driving failure on rough terrain

Robotica ◽  
2016 ◽  
Vol 35 (10) ◽  
pp. 2076-2096
Author(s):  
He Xu ◽  
X. Z. Gao ◽  
Yan Xu ◽  
Kaifeng Wang ◽  
Hongpeng Yu ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Driving Force ◽  
Failure Modes ◽  
Sliding Mode ◽  
Rough Terrain ◽  
Force Analysis ◽  
Uncertain Environments ◽  
Wheeled Mobile Robots ◽  
Robot Configuration

SUMMARYFor wheeled mobile robots moving in rough terrains or uncertain environments, driving failure will be encountered when trafficability failure occurs. Continuous mobility of mobile robots with special ability for overcoming driving failure on rough terrain has rarely been considered. This study was conducted using a four-wheel-steering and four-wheel-driving mobile robot equipped with a binocular visual system. First, quasi-static force analysis is carried out to understand the effects of different driving-failure modes on the mobile robot while moving on rough terrain. Secondly, to make the best of the rest of the driving force, robot configuration transformation is employed to select the optimal configuration that can overcome the driving failure. Thirdly, sliding mode control based on back-stepping is adopted to enable the robot achieve continuous trajectory tracking with visual feedback. Finally, the efficacy of the presented approach is verified by simulations and experiments.

scholarly journals Desain Sliding Mode Tracking Control untuk WMR Menggunakan Matlab

2018 ◽  
Author(s):  
Ryan Laksmana Singgeta
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Tracking Control ◽  
Sliding Mode ◽  
Wheeled Mobile Robots ◽  
Mode Control ◽  
Holonomic Systems ◽  
Mode Tracking

Mobile robot adalah salah satu jenis robot yang menggunakan aktuator/penggerak untuk mengubah keadaan serta posisi dari satu titik ke titik yang lain. Wheeled mobile robots (WMR) atau roda robot biasanya dikontrol dan dikendalikan agar bisa bergerak dan berpindah posisi sesuai yang ditentukan. Pengendalian WMR sering digunakan dalam otomasi pada proses industri serta di bidang lain seperti pertanian. Untuk mendapatkan performans WMR yang baik maka perlu merancang dan mendesain kontrol yang tepat. Dalam paper ini sliding mode tracking control di desain untuk mengendalikan wheeled mobile robots yang disimulasikannya menggunnakan Matlab. Mobile robot merupakan non-holonomic systems. Penelitian ini telah banyak dilakukan pada masalah tracking kontrol pada WMR. Skema kinematic tracking kontrol tidak mempertimbangkan dinamika atau kelembaman (inersia) dari mobile robot. Adapun metode penelitian yang dilakukan adalah pertama, disajikan model kinematik dari empat jenis roda yang umum seperti fixed, centered orientable, castor and Swedish. Mobile robot pada paper ini dianalisa dengan kajian kinematik. Kedua, mendesain sebuah sliding mode tracking control untuk menemukan target sebagai lintasan yang telah ditentukan serta untuk mengurangi error pada posisi start. Dengan sliding mode control yang telah di desain, dapat menunjukan hasil respon yang baik, dimana WMR dapat bergerak pada lintasan menuju ke titik akhir/target yang telah ditentukan.

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