Cooperative Control of Autonomous Mobile Robots in Unknown Terrain

2006 ◽  
Author(s):  
Laura E. Ray ◽  
Devin Brande ◽  
John Murphy ◽  
James Joslin
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Cooperative Control ◽  
High Speed ◽  
Control Method ◽  
Performance Characteristics ◽  
Computationally Efficient ◽  
Wheeled Mobile Robots ◽  
Planning And Control ◽  
Local Slip

This paper presents a distributed control framework for groups of wheeled mobile robots with significant (non-negligible) vehicle dynamics driving on terrain with variable performance characteristics. A dynamic model of a high-speed robot is developed with attention to representation of wheel-terrain performance characteristics. Using this model, aspects of distributed, cooperative control on unknown terrain are investigated. A potential function path planning and cooperative control algorithm is combined with a local slip controller on each robot to provide high-speed control of vehicle formation. Local slip control is shown to reduce sensitivity of the distributed path planning and control method to tire-terrain performance variation and its resulting effect on dynamic behavior of the robots. Computationally efficient methods for real-time assessment of force-slip characteristics are presented to provide slip setpoints for this control architecture.

Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers

2018 ◽  
Vol 38 (5) ◽  
pp. 558-567 ◽  
Author(s):  
Hua Chen ◽  
Lei Chen ◽  
Qian Zhang ◽  
Fei Tong
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Visual Servoing ◽  
Control Method ◽  
External Disturbance ◽  
Nonholonomic Systems ◽  
Stability Control ◽  
Interference Control ◽  
Wheeled Mobile Robots ◽  
Content Type

Purpose The finite-time visual servoing control problem is considered for dynamic wheeled mobile robots (WMRs) with unknown control direction and external disturbance. Design/methodology/approach By using finite-time control method and switching design technique. Findings First, the visual servoing kinematic WMR model is developed, which can be converted to the dynamic chained-form systems by using a state and input feedback transformation. Then, for two decoupled subsystems of the chained-form systems, according to the finite-time stability control theory, a discontinuous three-step switching control strategy is proposed in the presence of uncertain control coefficients and external disturbance. Originality/value A class of discontinuous anti-interference control method has been presented for the dynamic nonholonomic systems.

scholarly journals Grey Wolf Optimizer-Based Approaches to Path Planning and Fuzzy Logic-based Tracking Control for Mobile Robots

2020 ◽  
Vol 15 (3) ◽  
Author(s):  
Radu-Emil Precup ◽  
Emil-Ioan Voisan ◽  
Emil M. Petriu ◽  
Marius L. Tomescu ◽  
Radu-Codrut David ◽  
...  
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Tracking Control ◽  
Fuzzy Controller ◽  
Optimization Problems ◽  
Cost Effective ◽  
Grey Wolf Optimizer ◽  
Reference Trajectory ◽  
Grey Wolf ◽  
Wheeled Mobile Robots

This paper proposes two applications of Grey Wolf Optimizer (GWO) algorithms to a path planning (PaPl) problem and a Proportional-Integral (PI)-fuzzy controller tuning problem. Both optimization problems solved by GWO algorithms are explained in detail. An off-line GWO-based PaPl approach for Nonholonomic Wheeled Mobile Robots (NWMRs) in static environments is proposed. Once the PaPl problem is solved resulting in the reference trajectory of the robots, the paper also suggests a GWO-based approach to tune cost-effective PI-fuzzy controllers in tracking control problem for NWMRs. The experimental results are demonstrated through simple multiagent settings conducted on the nRobotic platform developed at the Politehnica University of Timisoara, Romania, and they prove both the effectiveness of the two GWO-based approaches and major performance improvement.

scholarly journals Energy Modeling and Power Measurement for Three-Wheeled Omnidirectional Mobile Robots for Path Planning

Electronics ◽  
2019 ◽  
Vol 8 (8) ◽  
pp. 843 ◽  
Author(s):  
Linfei Hou ◽  
Liang Zhang ◽  
Jongwon Kim
Keyword(s):  
Path Planning ◽  
Power Consumption ◽  
Mobile Robots ◽  
High Mobility ◽  
Intelligent Manufacturing ◽  
Power Measurement ◽  
Research Focus ◽  
Planning And Control ◽  
Perfect Symmetry ◽  
And Control

Due to their high mobility, mobile robots (MR) are widely used in intelligent manufacturing. Due to the perfect symmetry of the MR of the three-wheeled moving chassis, it can move quickly in a crowded and complex factory environment. Because it is powered by a lithium battery, in order to improve its energy efficiency, we need to ensure that its power consumption is reduced as much as possible in order to avoid frequent battery replacement. The power consumption of MRs has also become an important research focus for researchers. Therefore, a power consumption modeling of the omnidirectional mobility of the three-wheeled omnidirectional mobile robot (TOMR) is proposed in this paper. When TOMR advances heading at different angles, the speed of each wheel changes dramatically. So, the power consumption of robots will also be greatly changed. In this paper, the energy and power consumption of the robot heading in different directions is analyzed and modeled by formulas. This research can be valuable for path planning and control design.

Path Planning and Path Tracking of Industrial Mobile Robots

2010 ◽  
pp. 84-124
Author(s):  
Sašo Blažic ◽  
El-Hadi Guechi ◽  
Jimmy Lauber ◽  
Michel Dambrine ◽  
Gregor Klancar
Keyword(s):  
Path Planning ◽  
Mobile Robots ◽  
Global Stability ◽  
Main Part ◽  
Path Tracking ◽  
Trajectory Design ◽  
Wheeled Mobile Robots ◽  
Physical Limitations ◽  
Takagi Sugeno ◽  
Reference Trajectories

The purpose of this chapter is to give a quick state of the art and to propose some new approaches in the area of path planning and path tracking for the differentially driven wheeled mobile robots. The main part of the chapter is devoted to the methods that ensure stable tracking of the prescribed reference trajectories. Of particular importance are the approaches that result in global stability of the tracking, e.g. Lyapunov-based control and parallel distributed Takagi-Sugeno fuzzy control. The effects of discrete measurements and delay on the control performance are also analysed. The second part of the chapter is devoted to path planning or trajectory design. Here, physical limitations of the robot and obstacle avoidance are treated.

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