scholarly journals PID-based with Odometry for Trajectory Tracking Control on Four-wheel Omnidirectional Covid-19 Aromatherapy Robot

2021 ◽  
Vol 5 ◽  
pp. 157-181
Author(s):  
. Iswanto ◽  
Alfian Ma’arif ◽  
Nia Maharani Raharja ◽  
Gatot Supangkat ◽  
Fitri Arofiati ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Position Control ◽  
Performance Criterion ◽  
Inhalation Therapy ◽  
Motor Speed ◽  
Trajectory Tracking Control ◽  
Ground Vehicle ◽  
Robot Trajectory ◽  
Heading Control

Inhalation therapy is one of the most popular treatments for many pulmonary conditions. The proposed Covid-19 aromatherapy robot is a type of Unmanned Ground Vehicle (UGV) mobile robot that delivers therapeutic vaporized essential oils or drugs needed to prevent or treat Covid-19 infections. It uses four omnidirectional wheels with a controlled speed to possibly move in all directions according to its trajectory. All motors for straight, left, or right directions need to be controlled, or the robot will be off-target. The paper presents omnidirectional four-wheeled robot trajectory tracking control based on PID and odometry. The odometry was used to obtain the robot's position and orientation, creating the global map. PID-based controls are used for three purposes: motor speed control, heading control, and position control. The omnidirectional robot had successfully controlled the movement of its four wheels at low speed on the trajectory tracking with a performance criterion value of 0.1 for the IAEH, 4.0 for MAEH, 0.01 for RMSEH, 0.00 for RMSEXY, and 0.06 for REBS. According to the experiment results, the robot's linear velocity error rate is 2%, with an average test value of 1.3 percent. The robot heading effective error value on all trajectories is 0.6%. The robot's direction can be monitored and be maintained at the planned trajectory. Doi: 10.28991/esj-2021-SPER-13 Full Text: PDF

Non-Autonomous Wheeled Mobile Robot Trajectory Tracking Control Based on the Navigation via WSN

2012 ◽  
Vol 457-458 ◽  
pp. 1089-1095
Author(s):  
Da Yong Lu ◽  
Zhen Hua Luo ◽  
Jian Lu Tian
Keyword(s):  
Control System ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Base Station ◽  
Reference Trajectory ◽  
Distributed Network ◽  
Feedback Channel ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Robot Trajectory

Trajectory tracking control is a major control problem in the application of the wheeled mobile robots (WMRs). However, many of the WMRs are autonomous which are equipped with several kinds of sensor to detect the position and orientation by itself, such as ultrasonic, laser, infrared and visual. This paper studies the implementation for a distributed network feedback control system and the trajectory tracking control algorithm for a non-autonomous WMR. The control system consists of a wireless sensor network (WSN) and a monitoring base station for measurement and feedback, and a non-autonomous WMR as controlled plant. To cope with the distributed and asynchronous measurements and slow response of the feedback channel, the sectional error amplitude limited algorithm is studied and the results show the system can effectively track a reference trajectory.

Trajectory Tracking and Control for Nonholonomic Ground Vehicle: Preliminary and Experimental Test

2018 ◽  
Author(s):  
Yuanyan Chen ◽  
J. Jim Zhu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Controller Design ◽  
Nonholonomic Constraints ◽  
Underactuated System ◽  
Model Parameters ◽  
Trajectory Tracking Control ◽  
Scaled Model ◽  
Ground Vehicle ◽  
Trajectory Tracking Controller

A car-like ground vehicle is a nonlinear and underactuated system subject to nonholonomic constraints. Trajectory tracking control of such systems is a challenging problem. To this end, a trajectory tracking controller based on nonlinear kinematics and dynamics model of a ground vehicle by Trajectory Tracking Control (TLC) is presented in our previous work. In this paper, we present hardware validation of TLC controller design with vehicle parameters determination for a Radio Controlled (RC) scaled model vehicle, experimental implementation, and tuning procedure. Hardware testing results are presented to demonstrate the effectiveness of our design. The design can be readily scaled-up to full-size vehicles and adapted to different types of autonomous ground vehicles with only knowledge of the vehicle model parameters.

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