scholarly journals Design and Fabrication of Rocker Bogie Mechanism

2021 ◽  
Vol 9 (VI) ◽  
pp. 1033-1037
Author(s):  
Mayank Tamgadge
Keyword(s):  
Mobile Robots ◽  
Control Strategy ◽  
High Speed ◽  
Wheeled Mobile Robots ◽  
Support Design ◽  
Average Speed ◽  
Design Structure ◽  
Different Types ◽  
The Stability ◽  
Step Over

The rocker-bogie suspension mechanism its currently NASAs one of the favourite design for wheeled mobile robots, mainly because it has multipurpose capabilities to deal with different types of surface and obstacles because it uniformly distributes the overall weight over its 6 wheels at all times. That's why it has many advantages when dealing with obstacles, there is one of the disadvantage is its low average speed of operation, the rocker bogie system generally not suitable for situations where high-speed operations for which to cover large surfaces Areas. mainly due to stability problems. Our purpose is to increase the stability of the rocker-bogie mechanism system by expanding its support design structure, making it more stable and flexible while moving at high speed, at different surfaces but keeping its original flexibility against obstacles. Most of the flexibility of this method can be achieved without any mechanical modification to existing designs only a change in control strategy. Some mechanical changes are required to Achieve the maximum Advantages and to increase the rover operations speed in future. We will develop a method of driving a rocker-bogie vehicle so that it can effectively step over most obstacles rather than impacting and climbing over them. The Rocker-Bogie Mechanism system was designed to be used at slow speeds. It is capable of overcoming obstacles that are depends upon the size of a wheel.

scholarly journals Control Strategy for the Pseudo-Driven Wheels of Multi-Wheeled Mobile Robots Based on Dissociation by Degrees-of-Freedom

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 155477-155491
Author(s):  
Huanan Qi ◽  
Bo You ◽  
Liang Ding ◽  
Wenhao Lian ◽  
Ye Yuan ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Control Strategy ◽  
Degrees Of Freedom ◽  
Wheeled Mobile Robots

scholarly journals Luenberger Position Observer Based on Deadbeat-Current Predictive Control for Sensorless PMSM

Electronics ◽  
2020 ◽  
Vol 9 (8) ◽  
pp. 1325 ◽  
Author(s):  
Yuan Zhu ◽  
Ben Tao ◽  
Mingkang Xiao ◽  
Gang Yang ◽  
Xingfu Zhang ◽  
...  
Keyword(s):  
Predictive Control ◽  
Control Strategy ◽  
High Speed ◽  
Control Method ◽  
Permanent Magnet Synchronous Motor ◽  
Current Control ◽  
Luenberger Observer ◽  
Control Step ◽  
The Stability ◽  
Discrete Mathematical Model

Two problems can cause control performance degradation on permanent magnet synchronous motor (PMSM) systems, namely, fluctuation of PMSM parameters and the time delay between current sampling and command value update. In order to reduce the influence of these problems, a new current-predictive control strategy is proposed in this article for medium- and high-speed PMSM. This strategy is based on the discrete mathematical model of PMSM. This new control strategy consists of two main steps: First, an integrator is applied to calculate current compensation value; second, the predictive current value is obtained through deadbeat-current predictive method. The stability of predictive control system is also proved in the article. With this deadbeat-current predictive control scheme, the real current can reach the desired value within one control-step. Based on this new current control method, Luenberger observer and phase-locked loop position tracker is applied in this article. Experimental results for 0.4 kW surface-mounted PMSM confirm the validity and excellent performance for parameters fluctuation of new current predictive control.

scholarly journals Finite Horizon Robust Nonlinear Model Predictive Control for Wheeled Mobile Robots

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Phuong Nam Dao ◽  
Hong Quang Nguyen ◽  
Thanh Long Nguyen ◽  
Xuan Sinh Mai
Keyword(s):  
Model Predictive Control ◽  
Mobile Robots ◽  
Predictive Control ◽  
Finite Horizon ◽  
Initial State ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Control Scheme ◽  
The Stability ◽  
Computation Load

The control of mobile robotic systems with input constraints is still a remarkable problem for many applications. This paper studies the model predictive control-based kinematic control scheme after implementing the decoupling technique of wheeled mobile robots (WMRs). This method enables us to obtain the easier optimization problem with fixed initial state. The finite horizon in cost function of model predictive control (MPC) algorithm requires the appropriate terminal controller as well as the equivalent terminal region. The stability of MPC is determined by feasible control sequence. Finally, offline simulation results validate that the computation load is significantly reduced and also validate trajectory tracking control effectiveness of our proposed control scheme.

scholarly journals Earthquake-induced snow avalanches: II. Experimental study

2010 ◽  
Vol 56 (197) ◽  
pp. 447-458 ◽  
Author(s):  
Evgeny A. Podolskiy ◽  
Kouichi Nishimura ◽  
Osamu Abe ◽  
Pavel A. Chernous
Keyword(s):  
High Frequency ◽  
High Speed ◽  
Shear Plane ◽  
Shaking Table ◽  
Snow Avalanches ◽  
Weak Layer ◽  
Different Types ◽  
The Stability ◽  
The Moment ◽  
Snow Samples

AbstractWe conducted experiments on the stability of snow, subjecting snow to vibrations, with the aim of improving our understanding of poorly studied mechanisms behind the triggering of avalanches during earthquakes. Most experiments were carried out on a specially constructed shaking table using artificial snowpacks containing a weak layer. Accelerations in the snow samples were measured using high-frequency sensors, enabling calculation of vibration-induced stresses within the snow at the moment of fracture. We used a high-speed camera to film different types of fracturing. In all cases, the vibrations caused failure of the snow by fracturing along the weak layer or at the base of the snow sample. An additional inertial stress induced by accelerations normal to the shear plane was quantified. We find that this stress can be related to smaller values of the shear strength in snow.

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.

Stable contour-following control of wheeled mobile robots

Robotica ◽  
2009 ◽  
Vol 27 (1) ◽  
pp. 1-12 ◽  
Author(s):  
Juan Marcos Toibero ◽  
Flavio Roberti ◽  
Ricardo Carelli
Keyword(s):  
Control System ◽  
Mobile Robots ◽  
Control Algorithms ◽  
Wheeled Mobile Robots ◽  
Distance Information ◽  
Straight Wall ◽  
The Stability ◽  
Office Environments ◽  
Wall Following ◽  
Velocity Command

SUMMARYThis paper presents a continuous wall-following controller for wheeled mobile robots based on odometry and distance information. The reference for this controller is the desired distance from the robot to the wall and allows the robot to follow straight wall contour as well as smoothly varying wall contours by including the curvature of the wall into the controller. The asymptotic stability of the control system is proved using a Lyapunov analysis. The controller is designed so as to avoid saturation of the angular velocity command to the robot. A novel switching scheme is also proposed that allows the robot to follow discontinuous contours allowing the robotic system to deal with typical problems of continuous wall-following controllers such as open corners and possible collisions. This strategy overcomes these instances by switching between dedicated behavior-based controllers. The stability of the switching control system is discussed by considering Lyapunov concepts. The proposed control systems are verified experimentally in laboratory and office environments to show the feasibility and good performance of the control algorithms.

Sign in / Sign up

Export Citation Format

Share Document