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.

scholarly journals Nonholonomic Wheeled Mobile Robot Trajectory Tracking Control Based on Improved Sliding Mode Variable Structure

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Hua Cen ◽  
Bhupesh Kumar Singh
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
Variable Structure ◽  
Wheeled Mobile Robot ◽  
Control Technique ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control

Several research studies are conducted based on the control of wheeled mobile robots. Nonholonomy constraints associated with wheeled mobile robots have encouraged the development of highly nonlinear control techniques. Nonholonomic wheeled mobile robot systems might be exposed to numerous payloads as per the application requirements. This can affect statically or dynamically the complete system mass, inertia, the location of the center of mass, and additional hardware constraints. Due to the nonholonomic and motion limited properties of wheeled mobile robots, the precision of trajectory tracking control is poor. The nonholonomic wheeled mobile robot tracking system is therefore being explored. The kinematic model and sliding mode control model are analyzed, and the trajectory tracking control of the robot is carried out using an enhanced variable structure based on sliding mode. The shear and sliding mode controls are designed, and the control stability is reviewed to control the trajectory of a nonholonomic wheeled mobile robot. The simulation outcomes show that the projected trajectory track control technique is able to improve the mobile robot’s control, the error of a pose is small, and the linear velocity and angular speed can be controlled. Take the linear and angular velocity as the predicted trajectory.

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.

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.

Disturbance observer-based robust control for trajectory tracking of wheeled mobile robots

2016 ◽  
Vol 198 ◽  
pp. 74-79 ◽  
Author(s):  
Dawei Huang ◽  
Junyong Zhai ◽  
Weiqing Ai ◽  
Shumin Fei
Keyword(s):  
Robust Control ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Disturbance Observer ◽  
Wheeled Mobile Robots

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.

Robust Control of a Low-Cost Mobile Robot Using a Neural Network Uncertainty Compensator

2014 ◽  
Author(s):  
Aliasghar Arab ◽  
Jingang Yi ◽  
Mohammad Mahdi Fateh ◽  
Soroush Arabshahi
Keyword(s):  
Neural Network ◽  
Robust Control ◽  
Mobile Robot ◽  
Feedback Linearization ◽  
Low Cost ◽  
Control Design ◽  
External Disturbances ◽  
Model Free ◽  
Comparison Results ◽  
Modeling Uncertainties

This paper presents a robust control design for a low-cost mobile robot under modeling uncertainties and external disturbances. We use a radial basis function neural network (RBFNN) to estimate and compensate for the model uncertainties and external disturbances. The proposed control design is model-free with guaranteed stability and good path-following performance. The RBFNN weight regulation and adaptive gains are designed based on the Lypanov method. Simulation and experimental results illustrate the design and demonstrate the strength of the proposed control applied to a nonholonomic wheeled mobile robot driven by low-cost permanent magnet dc motors without shaft encoders. The comparison results between proposed control and feedback linearization control confirm the effective role of the compensator in terms of precision, simplicity of design and computations.

Development of a Control Model for a Four Wheel Mecanum Vehicle

2011 ◽  
Vol 134 (1) ◽  
Author(s):  
M. de Villiers ◽  
N. S. Tlale
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Contact Point ◽  
Control Model ◽  
Wheeled Mobile Robot ◽  
Experimental Results ◽  
Refined Model ◽  
Wheeled Mobile Robots ◽  
Control Models ◽  
Model Control

In this paper, a refined control model for a Mecanum-wheeled mobile robot is developed and presented. Available control models in literature for Mecanum-wheeled mobile robots are based on a simplification which defines the contact point of the wheel on the ground as the point in the center of the wheel, which does not vary. This limits the smoothness of motion of a mobile robot employing these wheels and impacts the efficiency of locomotion of mobile robots using Mecanum wheels. The control model proposed in this paper accounts for the fact that the contact point in fact changes position down the axle of the wheel as the angle roller moves on the ground. The developed control model is verified with experimental results. Using the refined model, control of Mecanum-wheeled mobile robot is made more predictable and accurate.

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