A Path-Generating Motion Control Scheme for a Mobile Robot in the Environment of Obstacles

2018 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Mobile Robot ◽  
Motion Control ◽  
Control Method ◽  
Nonholonomic Constraints ◽  
Design Tool ◽  
Lyapunov Stability Theorem ◽  
Repulsive Potential ◽  
Control Scheme ◽  
Multiple Obstacles ◽  
Mathematical Design

In this paper, a path-generating motion control scheme is proposed for a unicycle-type wheeled mobile robot navigating through multiple obstacles. The proposed motion control scheme computes the driving force and rotational torque of the robot in real time that drive the robot to a given goal position while avoiding multiple obstacles. The nonholonomic constraints as well as the dynamic equations of the mobile robot are used in the design of the motion control scheme, where a repulsive potential function is used for obstacle avoidance. In the control design, the Lyapunov stability theorem is used as a mathematical design tool. Under certain conditions, the proposed control guarantees asymptotic stability while keeping all internal signals bounded. The effectiveness of the proposed control method has been shown with realistic computer simulations.

Trajectory Generation and Control of a Mobile Robot in the Environment of Obstacles

2017 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Mobile Robot ◽  
Motion Control ◽  
Control Method ◽  
Trajectory Generation ◽  
Nonholonomic Constraints ◽  
Frequency Measurement ◽  
Design Tool ◽  
Control Scheme ◽  
And Control ◽  
Multiple Obstacles

This paper proposes a path-planning control scheme for a mobile robot navigating through multiple obstacles. The proposed control consists of a trajectory generation scheme and a motion control scheme. The trajectory generation scheme computes the translational and rotational reference velocities in real time that drive the robot to a given goal position while avoiding multiple obstacles. The trajectory generation scheme is insensitive to high-frequency measurement noises. The motion control scheme computes the driving force and rotational torque required for the robot to track the reference velocities. The nonholonomic constraints of the mobile robot are used in the design of the kinematic trajectory generation scheme, where a repulsive potential function is used for obstacle avoidance. The dynamic model of the robot is used in the design of the motion control scheme. In the control design, the Lyapunov stability theorem is used as a mathematical design tool. Under certain conditions, the proposed control guarantees asymptotic stability while keeping all internal signals bounded. The effectiveness of the proposed control method has been shown with realistic computer simulations.

Control Design of a Mobile Robot in the Environment of Obstacles Based on a Rounded V-Shape Lyapunov Function

2019 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Lyapunov Function ◽  
Mobile Robot ◽  
Motion Control ◽  
Function Method ◽  
Input Saturation ◽  
Trajectory Generation ◽  
Position Errors ◽  
Control Scheme ◽  
Lyapunov Function Method ◽  
Multiple Obstacles

Abstract This paper proposes a V-shape Lyapunov function method with application to the design of a control scheme for a mobile robot navigating through multiple obstacles. The proposed design method solves the serious problem of input saturation due to big position errors in the beginning of the control associated with the conventional parabolic Lyapunov function method. The resulting control consists of a trajectory generation scheme and a motion control scheme. The trajectory generation scheme computes the translational and rotational reference velocities in real time that drive the robot to a given goal position while avoiding multiple obstacles. The motion control scheme computes the driving force and rotational torque to track the reference velocities. The nonholonomic constraints of the mobile robot are used in the design of the kinematic trajectory generation scheme, where a repulsive potential function is used for obstacle avoidance. The dynamic model of the robot is used in the design of the motion control scheme. Under certain conditions, the proposed control guarantees asymptotic stability while keeping all internal signals bounded. The effectiveness of the proposed control method has been shown with realistic computer simulations.

Trajectory Control of a Car-Like Wheeled Robot

2010 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Mobile Robot ◽  
Control Method ◽  
Trajectory Control ◽  
Design Tool ◽  
Robot Dynamics ◽  
Steering Angle ◽  
Kinematic Constraints ◽  
Kinematic Control ◽  
Driving Speed ◽  
Control Scheme

This paper proposes a trajectory control method for a carlike four-wheeled mobile robot. First, a kinematic control scheme is designed based on the nonholonomic kinematic constraints of a mobile robot, in which reference driving speed and steering angle are computed for a given desired trajectory of the robot. This kinematic control scheme, generating the reference speed and steering angle, can be applied to unmanned vehicle control with a robot driver. Second, a new backstepping trajectory control scheme is designed based on the robot dynamics subject to the nonholonomic kinematic constraints, in which the desired driving force and steering torque are computed for a given desired trajectory. In this study, the Lyapunov stability theorem is used as a mathematical design tool. The proposed control guarantees asymptotic stability of the trajectory control while keeping all internal signals bounded. Finally, the validity of the theoretical results is shown by realistic computer simulations with one sampling delay in the control loop.

Avoidance of Multiple Obstacles for a Mobile Robot With Nonholonomic Constraints

2005 ◽  
Author(s):  
Yi Liang ◽  
Ho-Hoon Lee
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
Obstacle Avoidance ◽  
Rotational Motion ◽  
Nonholonomic Constraints ◽  
Tangential Direction ◽  
Nonholonomic Mobile Robots ◽  
Arbitrary Boundary ◽  
Multiple Obstacles

In this study, a decoupled controller, consisting of a force controller and a torque controller, is designed to achieve a smooth translational and rotational motion control of a group of nonholonomic mobile robots. The proposed controller also solves the problem of obstacle avoidance, where obstacles with arbitrary boundary shapes are taken into account. Since the tangential direction of obstacle boundary is adopted as the guiding direction of a robot, the proposed controller allows a mobile robot to escape from a concave obstacle, while the robot could be trapped with most of the conventional obstacle avoidance algorithms.

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.

A Leader-Following Formation Control of a Group of Forklift-Like Mobile Robots

2015 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Trajectory Generation ◽  
Nonholonomic Constraints ◽  
Stability Theorem ◽  
Design Tools ◽  
Lyapunov Stability Theorem ◽  
Control Scheme ◽  
Leader Following ◽  
Steering Torque

This paper proposes a leader-following formation control for a group of forklift-like mobile robots. The leader follows its desired trajectory while the rest of robots are following the leader in a specified formation. The proposed formation control computes desired driving force and steering torque for each robot. The proposed control consists of a formation control scheme and a kinematic trajectory generation scheme for the leader of a group. The nonholonomic constraints of the forklift-like mobile robots are taken into account in the design of the formation control and trajectory generation schemes, in which the Lyapunov stability theorem and the loop shaping method are used as design tools. Under certain conditions, the proposed formation control guarantees asymptotic stability while keeping all internal signals bounded. The effectiveness of the proposed control has been shown with realistic computer simulations.

A Leader-Following Formation Control of a Group of Mixed-Type Mobile Robots

2016 ◽  
Author(s):  
Ho-Hoon Lee ◽  
Cris Koutsougeras
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Mixed Type ◽  
Trajectory Generation ◽  
Nonholonomic Constraints ◽  
Design Tools ◽  
Lyapunov Stability Theorem ◽  
Control Scheme ◽  
Leader Following ◽  
Steering Torque

This paper proposes a leader-following formation control for a group of mixed-type mobile robots such as unicycle-type, carlike, and forklift-type robots. These robots are quite different in kinematics and dynamics. The leader follows its desired trajectory while the rest of robots are following the leader in a specified formation. The proposed formation control computes the desired driving force and steering torque of each robot. The proposed control consists of a formation control scheme and a kinematic trajectory generation scheme for the leader of a group. The nonholonomic constraints of each of the mixed-type mobile robots are taken into account in the design of the formation control and trajectory generation schemes, in which the Lyapunov stability theorem and the loop shaping method are used as design tools. Under certain conditions, the proposed formation control guarantees asymptotic stability while keeping all internal signals bounded. The effectiveness of the proposed control has been shown with realistic computer simulations.

A Leader-Following Formation Control of a Group of Car-Like Mobile Robots

2013 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Trajectory Generation ◽  
Nonholonomic Constraints ◽  
Stability Theorem ◽  
Design Tools ◽  
Lyapunov Stability Theorem ◽  
Control Scheme ◽  
Leader Following ◽  
Steering Torque

This paper proposes a leader-following formation control strategy for a group of car-like mobile robots. The leader follows its desired trajectory while the rest of robots are following the leader in a specified formation. The proposed formation control computes desired driving force and steering torque for each robot. The proposed control consists of a formation control scheme and a kinematic trajectory generation scheme for the leader of a group. The nonholonomic constraints of the car-like mobile robots are taken into account in the design of the formation control and trajectory generation scheme, in which the Lyapunov stability theorem and the loop shaping method are used as design tools. Under certain conditions, the proposed formation control guarantees asymptotic stability while keeping all internal signals bounded. The effectiveness of the proposed control has been shown with realistic computer simulations.

scholarly journals Valve Deadzone/Backlash Compensation for Lifting Motion Control of Hydraulic Manipulators

Machines ◽  
2021 ◽  
Vol 9 (3) ◽  
pp. 57
Author(s):  
Lan Li ◽  
Ziying Lin ◽  
Yi Jiang ◽  
Cungui Yu ◽  
Jianyong Yao
Keyword(s):  
Motion Control ◽  
High Precision ◽  
Control Method ◽  
Flow Characteristics ◽  
Friction Model ◽  
Adaptive Robust Control ◽  
Hydraulic Manipulators ◽  
System A ◽  
Lugre Friction Model ◽  
Control Scheme

In this paper, a novel nonlinear model and high-precision lifting motion control method of a hydraulic manipulator driven by a proportional valve are presented, with consideration of severe system nonlinearities, various uncertainties as well as valve backlash/deadzone input nonlinearities. To accomplish this mission, based on the independent valve orifice throttling process, a new comprehensive pressure-flow model is proposed to uniformly indicate both the backlash and deadzone effects on the flow characteristics. Furthermore, in the manipulator lifting dynamics, considering mechanism nonlinearity and utilizing a smooth LuGre friction model to describe the friction dynamics, a nonlinear state-space mathematical model of hydraulic manipulation system is then established. To suppress the adverse effects of severe nonlinearities and uncertainties in the system, a high precision adaptive robust control method is proposed via backstepping, in which a projection-type adaptive law in combination with a robust feedback term is conducted to attenuate various uncertainties and disturbances. Lyapunov stability analysis demonstrates that the proposed control scheme can acquire transient and steady-state close-loop stability, and the excellent tracking performance of the designed control law is verified by comparative simulation results.

scholarly journals Leader-Following Control System Design Based on Back-stepping Control Strategy

2020 ◽  
Author(s):  
Dong-Hun Lee ◽  
Duc-Quan Tran ◽  
Young-Bok Kim
Keyword(s):  
Control System ◽  
Motion Control ◽  
Control Strategy ◽  
Pid Control ◽  
Control Method ◽  
Nonlinear Parameters ◽  
Control Scheme ◽  
Leader Following ◽  
Back Stepping Control ◽  
And Control

In this study, a motion control problem for the vessels towed by tugboats or towing ships on the sea is considered. The towed vessels including barge ships are need to have assistance of tugboats. Combining two vessels, some work purposes in the sea or harbor area can be completed. In this study, the authors give newly developed mathematical model and control system strategy. Especially, the system model fully presenting the physical characteristics of two vessels are derived. For controlling the system effectively, it is considered that the towed vessel has no power propulsion system but the rudder is activated to improve the maneuverability. Considering the strong nonlinearities included in the vessel dynamics, the modelled system is presented by nonlinear system without linearization of nonlinear parameters. Thus, the control system for the towed vessel is designed based on the nonlinear control scheme. Exactly, the back-stepping control method is applied to its motion control. Also, the PID control method is applied for comparing with the proposed control strategy.

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