A new dynamic control model with stability analysis for omnidirectional mobile robot

2015 ◽  
Author(s):  
Gossaye Mekonnen ◽  
Sanjeev Kumar ◽  
Pushparaj M. Pathak
Keyword(s):  
Stability Analysis ◽  
Mobile Robot ◽  
Dynamic Control ◽  
Control Model ◽  
Omnidirectional Mobile Robot

scholarly journals Omnidirectional Mobile Robot Dynamic Model Identification by NARX Neural Network and Stability Analysis Using the APLF Method

Symmetry ◽  
2020 ◽  
Vol 12 (9) ◽  
pp. 1430
Author(s):  
Liang Xin ◽  
Yuchao Wang ◽  
Huixuan Fu
Keyword(s):  
Neural Network ◽  
Stability Analysis ◽  
Mobile Robot ◽  
Dynamic Model ◽  
Complex Dynamics ◽  
Model Identification ◽  
Theoretical Method ◽  
Omnidirectional Mobile Robot ◽  
Path Dependent ◽  
Narx Neural Network

In this paper, the NARX neural network system is used to identify the complex dynamics model of omnidirectional mobile robot while rotating with moving, and analyze its stability. When the mobile robot model rotates and moves at the same time, the dynamic model of the mobile robot is complex and there is motion coupling. The change of the model in different states is a kind of symmetry. In order to solve the problem that there is a big difference between the mechanism modeling motion simulation and the actual data, the dynamic model identification of mobile robot in special state based on NARX neural network is proposed, and the stability analysis method is given. To verify that the dynamic model of NARX identification is consistent with that of the mobile robot, the Activation Path-Dependent Lyapunov Function (APLF) algorithm is used to distinguish the NARX neural network model expressed by LDI. However, the APLF method needs to calculate a large number of LMIs in practice and takes a lot of time, and, to solve this problem, an optimized APLF method is proposed. The experimental results verify the effectiveness of the theoretical method.

scholarly journals Dynamic Control for a Holonomic and Omnidirectional Mobile Robot with Active Dual-Wheel Caster Assemblies.

2002 ◽  
Vol 20 (2) ◽  
pp. 187-195 ◽  
Author(s):  
Takaaki Yamada ◽  
Keigo Watanabe ◽  
Kazuo Kiguchi ◽  
Kiyotaka Izumi
Keyword(s):  
Mobile Robot ◽  
Dynamic Control ◽  
Omnidirectional Mobile Robot

Path Planning of Mobile Robot Using Improved Artificial Bee Colony Algorithm

2020 ◽  
Vol 38 (9A) ◽  
pp. 1384-1395
Author(s):  
Rakaa T. Kamil ◽  
Mohamed J. Mohamed ◽  
Bashra K. Oleiwi
Keyword(s):  
Mobile Robot ◽  
Comparative Research ◽  
Artificial Bee Colony Algorithm ◽  
Artificial Bee Colony ◽  
Dynamic Control ◽  
Computational Time ◽  
Bee Colony ◽  
Shortest Distance ◽  
Minimum Number ◽  
Cubic Polynomial

A modified version of the artificial Bee Colony Algorithm (ABC) was suggested namely Adaptive Dimension Limit- Artificial Bee Colony Algorithm (ADL-ABC). To determine the optimum global path for mobile robot that satisfies the chosen criteria for shortest distance and collision–free with circular shaped static obstacles on robot environment. The cubic polynomial connects the start point to the end point through three via points used, so the generated paths are smooth and achievable by the robot. Two case studies (or scenarios) are presented in this task and comparative research (or study) is adopted between two algorithm’s results in order to evaluate the performance of the suggested algorithm. The results of the simulation showed that modified parameter (dynamic control limit) is avoiding static number of limit which excludes unnecessary Iteration, so it can find solution with minimum number of iterations and less computational time. From tables of result if there is an equal distance along the path such as in case A (14.490, 14.459) unit, there will be a reduction in time approximately to halve at percentage 5%.

Kinematics Study on an Omnidirectional Mobile Robot with MY Wheels

ROBOT ◽  
2012 ◽  
Vol 34 (2) ◽  
pp. 144 ◽  
Author(s):  
Changlong YE ◽  
Huaiyong LI ◽  
Shugen MA ◽  
Huichao NI
Keyword(s):  
Mobile Robot ◽  
Omnidirectional Mobile Robot

scholarly journals Motion Planning and Control of an Omnidirectional Mobile Robot in Dynamic Environments

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 48
Author(s):  
Mahmood Reza Azizi ◽  
Alireza Rastegarpanah ◽  
Rustam Stolkin
Keyword(s):  
Mobile Robot ◽  
Collision Avoidance ◽  
Motion Control ◽  
Equations Of Motion ◽  
Dynamic Environments ◽  
Discrete State ◽  
Omnidirectional Mobile Robot ◽  
Planning And Control ◽  
Avoidance Strategy ◽  
And Performance

Motion control in dynamic environments is one of the most important problems in using mobile robots in collaboration with humans and other robots. In this paper, the motion control of a four-Mecanum-wheeled omnidirectional mobile robot (OMR) in dynamic environments is studied. The robot’s differential equations of motion are extracted using Kane’s method and converted to discrete state space form. A nonlinear model predictive control (NMPC) strategy is designed based on the derived mathematical model to stabilize the robot in desired positions and orientations. As a main contribution of this work, the velocity obstacles (VO) approach is reformulated to be introduced in the NMPC system to avoid the robot from collision with moving and fixed obstacles online. Considering the robot’s physical restrictions, the parameters and functions used in the designed control system and collision avoidance strategy are determined through stability and performance analysis and some criteria are established for calculating the best values of these parameters. The effectiveness of the proposed controller and collision avoidance strategy is evaluated through a series of computer simulations. The simulation results show that the proposed strategy is efficient in stabilizing the robot in the desired configuration and in avoiding collision with obstacles, even in narrow spaces and with complicated arrangements of obstacles.

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