Uncalibrated Vision-Based Control of Two-Wheeled Mobile Robots

2001 ◽  
Author(s):  
Jenelle Armstrong Piepmeier ◽  
Peter A. Morgan
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Newton Method ◽  
Camera Calibration ◽  
Visual Feedback ◽  
Robot Kinematics ◽  
Moving Target ◽  
Controllable System ◽  
Wheeled Mobile Robots ◽  
Quasi Newton

Abstract An quasi-Newton method with Jacobian estimation is used to control a mobile robot utilizing visual feedback. The method is uncalibrated, requiring no camera calibration or known robot kinematics. Given a proper task configuration, the robot can be controlled such that it follows a moving target. This paper investigates the appropriate task configurations that result in a controllable system.

Artificial Higher Order Neural Networks for Modeling MIMO Discrete-Time Nonlinear System

2013 ◽  
pp. 30-43
Author(s):  
Michel Lopez-Franco ◽  
Alma Y. Alanis ◽  
Nancy Arana-Daniel ◽  
Carlos Lopez-Franco
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Discrete Time ◽  
Higher Order ◽  
Robot Kinematics ◽  
Robot Dynamics ◽  
Plant Model ◽  
Actuator Dynamics ◽  
Nonholonomic Mobile Robot ◽  
Higher Order Neural Networks

In this chapter, a Recurrent Higher Order Neural Network (RHONN) is used to identify the plant model of discrete time nonlinear systems, under the assumption that all the state is available for measurement. Then the Extended Kalman Filter (EKF) is used to train the RHONN. The applicability of this scheme is illustrated by identification for an electrically driven nonholonomic mobile robot. Traditionally, modeling of mobile robots only considers its kinematics. It has been well known that the actuator dynamics is an important part of the design of the complete robot dynamics. However, most of the reported results in literature do not consider all parametric uncertainties for mobile robots at the actuator level. This is due to the modeling problem becoming extremely difficult as the complexity of the system dynamics increases, and the mobile robot model includes the uncertainties of the actuator dynamics as well as the uncertainties of the robot kinematics and dynamics.

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.

Study on Kinematics of a Ice-Skater Robot of Passive Wheel Type and its Structure Characteristics

2013 ◽  
Vol 415 ◽  
pp. 60-64
Author(s):  
Feng Yun Lin ◽  
Ji Rong Wang ◽  
Yu Wang
Keyword(s):  
Mobile Robots ◽  
Robot Kinematics ◽  
Kinematics Analysis ◽  
Wheeled Mobile Robots ◽  
Structure Characteristics ◽  
Motion Condition ◽  
Wheeled Robot

This paper put forward the idea of ice skater robot of passive wheeled type integrating the features of wheeled mobile robots and legged mobile robots. The motion principle of a kind of leg-wheeled robot was analyzed. On the basis of introduction of kinematics analysis, the paper gives the model of the robot kinematics, Meanwhile, the paper analyzes the motion condition of the robot.

scholarly journals Modelling of Dynamics of a Wheeled Mobile Robot with Mecanum Wheels with the use of Lagrange Equations of the Second Kind

2017 ◽  
Vol 22 (1) ◽  
pp. 81-99 ◽  
Author(s):  
Z. Hendzel ◽  
Ł. Rykała
Keyword(s):  
Mathematical Model ◽  
Kinetic Energy ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Equations Of Motion ◽  
Wheeled Mobile Robot ◽  
Dynamic Equations ◽  
Lagrange Equations ◽  
Wheeled Mobile Robots ◽  
New Type

Abstract The work presents the dynamic equations of motion of a wheeled mobile robot with mecanum wheels derived with the use of Lagrange equations of the second kind. Mecanum wheels are a new type of wheels used in wheeled mobile robots and they consist of freely rotating rollers attached to the circumference of the wheels. In order to derive dynamic equations of motion of a wheeled mobile robot, the kinetic energy of the system is determined, as well as the generalised forces affecting the system. The resulting mathematical model of a wheeled mobile robot was generated with the use of Maple V software. The results of a solution of inverse and forward problems of dynamics of the discussed object are also published.

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.

Calibration of omnidirectional wheeled mobile robots: method and experiments

Robotica ◽  
2013 ◽  
Vol 31 (6) ◽  
pp. 969-980 ◽  
Author(s):  
Yaser Maddahi ◽  
Ali Maddahi ◽  
Nariman Sepehri
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Systematic Errors ◽  
Wheeled Mobile Robot ◽  
Wheeled Mobile Robots ◽  
Omnidirectional Mobile Robot ◽  
Position Errors ◽  
Positioning Errors ◽  
Surface Irregularities ◽  
Omnidirectional Wheels

SUMMARYOdometry errors, which occur during wheeled mobile robot movement, are inevitable as they originate from hard-to-avoid imperfections such as unequal wheels diameters, joints misalignment, backlash, slippage in encoder pulses, and much more. This paper extends the method, developed previously by the authors for calibration of differential mobile robots, to reduce positioning errors for the class of mobile robots having omnidirectional wheels. The method is built upon the easy to construct kinematic formulation of omnidirectional wheels, and is capable of compensating both systematic and non-systematic errors. The effectiveness of the method is experimentally investigated on a prototype three-wheeled omnidirectional mobile robot. The validations include tracking unseen trajectories, self-rotation, as well as travelling over surface irregularities. Results show that the method is very effective in improving position errors by at least 68%. Since the method is simple to implement and has no assumption on the sources of errors, it should be considered seriously as a tool for calibrating omnidirectional mobile having any number of wheels.

scholarly journals Wheeled mobile robot design with robustness properties

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401774525 ◽  
Author(s):  
Yung Yue Chen ◽  
Yung Hsiang Chen ◽  
Chiung Yau Huang
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Control Design ◽  
Wheeled Mobile Robot ◽  
Tracking Problem ◽  
Wheeled Mobile Robots ◽  
Modeling Uncertainties ◽  
Nonlinear Robust

A trajectory tracking design for wheeled mobile robots is presented in this article. The design objective is to develop one nonlinear robust control law for the trajectory tracking problem of wheeled mobile robots in the presence of modeling uncertainties. The main contribution of this investigation is as follows. Under the effects of modeling uncertainties, an effective control design which can quickly converge tracking errors between the controlled wheeled mobile robot and the desired trajectory is derived mathematically. Generally, it is difficult to develop a nonlinear robust control design for the trajectory tracking problem of wheeled mobile robots due to the complexity and nonlinearity of the wheeled mobile robots’ dynamics. Fortunately, based on a series analysis for the tracking error dynamics of the controlled wheeled mobile robot, one promising solution is obtained. For verifying the trajectory tracking performance of this proposed method, two scenarios are utilized in the simulations and the practical tests.

Calibration of wheeled mobile robots with differential drive mechanisms: an experimental approach

Robotica ◽  
2012 ◽  
Vol 30 (6) ◽  
pp. 1029-1039 ◽  
Author(s):  
Y. Maddahi ◽  
N. Sepehri ◽  
A. Maddahi ◽  
M. Abdolmohammadi
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Experimental Approach ◽  
Systematic Errors ◽  
New Method ◽  
University Of Michigan ◽  
Wheeled Mobile Robots ◽  
Differential Drive ◽  
Error Corrections ◽  
Straight Line

SUMMARYExact knowledge of the position and proper calibration of robots that move by wheels form an important foundation in mobile robot applications. In this context, a variety of sensory systems and techniques have been developed for accurate positioning of differential drive mobile robots. This paper, first, provides a brief overview of mobile robots positioning techniques and then, presents a new benchmark method capable of calibrating mobile robots with differential drive mechanisms to correct systematic errors. The proposed method is compared with the commonly used University of Michigan Benchmark (UMBmark) odometry method. Two sets of comparisons are conducted on six prototyped robots with differential drives. The first set of tests establishes the workability and accuracy that can be achieved with the new method and compares them with the ones obtained from the UMBmark technique. The second experiment compares the performance of a mobile robot, calibrated with either the UMBmark or the new method, for an unseen path. It is demonstrated that the proposed method of calibration is simple to implement, and leads to accuracy comparable to the UMBmark method. Specifically, while the error corrections in both methods are within ±5% of each other, the proposed method requires single straight line motion for calibration, which is believed to be simpler and less timely to implement than the square path motion required by the UMBmark technique. The method should therefore be considered seriously as a new tool when calibrating differential drive mobile robots.

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