Flatness-based control scheme for hardware-in-the-loop simulations of omnidirectional mobile robot

SIMULATION ◽  
2019 ◽  
Vol 96 (2) ◽  
pp. 169-183
Author(s):  
Saumya R Sahoo ◽  
Shital S Chiddarwar
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Simulation Model ◽  
Vision System ◽  
Control Input ◽  
Hardware In The Loop ◽  
Omnidirectional Mobile Robot ◽  
Time Simulation ◽  
Control Scheme ◽  
Hil Simulation

Omnidirectional robots offer better maneuverability and a greater degree of freedom over conventional wheel mobile robots. However, the design of their control system remains a challenge. In this study, a real-time simulation system is used to design and develop a hardware-in-the-loop (HIL) simulation platform for an omnidirectional mobile robot using bond graphs and a flatness-based controller. The control input from the simulation model is transferred to the robot hardware through an Arduino microcontroller input board. For feedback to the simulation model, a Kinect-based vision system is used. The developed controller, the Kinect-based vision system, and the HIL configuration are validated in the HIL simulation-based environment. The results confirm that the proposed HIL system can be an efficient tool for verifying the performance of the hardware and simulation designs of flatness-based control systems for omnidirectional mobile robots.

scholarly journals Soccer-Assisted Training Robot Based on Image Recognition Omnidirectional Movement

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Bin Tan
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Image Recognition ◽  
Standard Error ◽  
Indoor Environment ◽  
Vision System ◽  
Recognition Task ◽  
Task Completion ◽  
Omnidirectional Vision ◽  
Omnidirectional Mobile Robot

With the continuous emergence and innovation of computer technology, mobile robots are a relatively hot topic in the field of artificial intelligence. It is an important research area of more and more scholars. The core of mobile robots is to be able to realize real-time perception of the surrounding environment and self-positioning and to conduct self-navigation through this information. It is the key to the robot’s autonomous movement and has strategic research significance. Among them, the goal recognition ability of the soccer robot vision system is the basis of robot path planning, motion control, and collaborative task completion. The main recognition task in the vision system is the omnidirectional vision system. Therefore, how to improve the accuracy of target recognition and the light adaptive ability of the robot omnidirectional vision system is the key issue of this paper. Completed the system construction and program debugging of the omnidirectional mobile robot platform, and tested its omnidirectional mobile function, positioning and map construction capabilities in the corridor and indoor environment, global navigation function in the indoor environment, and local obstacle avoidance function. How to use the local visual information of the robot more perfectly to obtain more available information, so that the “eyes” of the robot can be greatly improved by relying on image recognition technology, so that the robot can obtain more accurate environmental information by itself has always been domestic and foreign one of the goals of the joint efforts of scholars. Research shows that the standard error of the experimental group’s shooting and dribbling test scores before and the experimental group’s shooting and dribbling test results after the standard error level is 0.004, which is less than 0.05, which proves the use of soccer-assisted robot-assisted training. On the one hand, we tested the positioning and navigation functions of the omnidirectional mobile robot, and on the other hand, we verified the feasibility of positioning and navigation algorithms and multisensor fusion algorithms.

Adaptive Tracking Control of Wheeled Mobile Robots

2011 ◽  
Vol 55-57 ◽  
pp. 1195-1199 ◽  
Author(s):  
Min Zuo ◽  
Guang Ping Zeng ◽  
Xu Yan Tu
Keyword(s):  
Mobile Robots ◽  
Tracking Control ◽  
Control Input ◽  
Tracking Problem ◽  
Wheeled Mobile Robots ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Velocity Increments ◽  
Simulation Results ◽  
Adaptive Control Scheme

Trajectory-tracking problem of wheeled mobile robots is investigated. Adaptive control scheme utilized has only one control signal. The control input gives out the velocity increments which will be utilized to adjust the pose of WMR so as to track the desired trajectories. The controller adopted is simple to realize and easy to tune the parameters, which is benefit to real applications. Numerical simulation results show that the control scheme is valid.

Linear Visual Servoing-Based Control of the Position and Attitude of Omnidirectional Mobile Robots

2011 ◽  
Vol 5 (4) ◽  
pp. 569-574
Author(s):  
Atsushi Ozato ◽  
◽  
Noriaki Maru ◽  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Visual Servoing ◽  
Rotational Velocity ◽  
Target Position ◽  
Visual Space ◽  
Translational Velocity ◽  
Omnidirectional Mobile Robot ◽  
Camera Angle ◽  
The Difference

This article proposes a Linear Visual Servoing (LVS)-based method of controlling the position and attitude of omnidirectional mobile robots. This article uses two markers to express their target position and attitude in binocular visual space coordinates, based on which new binocular visual space information which includes position and attitude angle information is defined. Binocular visual space information and the motion space of an omnidirectional mobile robot are linearly approximated, and, using the approximation matrix and the difference in the binocular visual space information between a target marker and a robot marker, the robot’s translational velocity and rotational velocity are generated. Since those are all generated based only on disparity information on an image, which is similar to how this is done in existing LVS, a camera angle is not required. Thus, the method is robust against calibration errors in camera angles, as is existing LVS. The effectiveness of the proposed method is confirmed by simulation.

Study on Hardware-in-the-Loop-Simulation of Hydroturbine Governing System

2010 ◽  
Vol 39 ◽  
pp. 395-398 ◽  
Author(s):  
Hai Hui Song ◽  
Yun Min Xie ◽  
Wei You Cai
Keyword(s):  
Simulation Model ◽  
Real Time ◽  
Hardware In The Loop ◽  
Real Time Simulation ◽  
Testing Platform ◽  
The Real ◽  
Governing System ◽  
Time Simulation

This paper introduces a testing mothod about hydroturbine governing system based on dSPACE hardware-in-the-loop-simulation. PID parameters are adjusted by hardware-in-the-loop -simulation. The results of the simulation show that it can provide simple, intuitive simulation model, and make parameters adjusting more intuitive and easier. The validity of the testing platform have been testified by the results of real-time simulation and hardware-in-the-loop-simulation. The superiority of controldesk in the real-time simulation is prominent.

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 Hardware-in-the-loop implementation for an active heave compensated drawworks

2012 ◽  
Vol 2 (2) ◽  
Author(s):  
Sanin Muraspahic ◽  
Peter Gu ◽  
Lawk Farji ◽  
Yousef Iskandarani ◽  
Peng Shi ◽  
...  
Keyword(s):  
User Interface ◽  
Simulation Model ◽  
Graphical User Interface ◽  
Angular Displacement ◽  
Hardware In The Loop ◽  
Physical Prototype ◽  
Hardware In Loop ◽  
Hil Simulation

AbstractThis paper presents the setup and running of a hardware-in-loop (HIL) simulation for an active heave compensated (AHC) draw-works. A simulation model of the draw-works is executed on a PC to simulate the AHC draw-works with a physical PLC. The PLC (ET200S) is configured with a controller architecture that regulates the motor angular displacement and velocity through actuation of the servo valves. Furthermore, a graphical user interface is developed for operation of the AHC system. The HIL test allowed tuning of the physical controller in terms of heave stabilization and positioning. The conclusion after the testing is a PLC which is ready for operation without necessitating the use a physical prototype of the process.

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