scholarly journals Time-Optimal Velocity Tracking Control for Consensus Formation of Multiple Nonholonomic Mobile Robots

Sensors ◽  
2021 ◽  
Vol 21 (23) ◽  
pp. 7997
Author(s):  
Hamidreza Fahham ◽  
Abolfazl Zaraki ◽  
Gareth Tucker ◽  
Mark W. Spong
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Switched System ◽  
Wheeled Mobile Robot ◽  
Consensus Algorithm ◽  
Consensus Formation ◽  
Robot System ◽  
Optimal Velocity ◽  
Time Optimal ◽  
Velocity Tracking

The problem of velocity tracking is considered essential in the consensus of multi-wheeled mobile robot systems to minimise the total operating time and enhance the system’s energy efficiency. This study presents a novel switched-system approach, consisting of bang-bang control and consensus formation algorithms, to address the problem of time-optimal velocity tracking of multiple wheeled mobile robots with nonholonomic constraints. This effort aims to achieve the desired velocity formation in the least time for any initial velocity conditions in a multiple mobile robot system. The main findings of this study are as follows: (i) by deriving the equation of motion along the specified path, the motor’s extremal conditions for a time-optimal trajectory are introduced; (ii) utilising a general consensus formation algorithm, the desired velocity formation is achieved; (iii) applying the Pontryagin Maximum Principle, the new switching formation matrix of weights is obtained. Using this new switching matrix of weights guarantees that at least one of the system’s motors, of either the followers or the leader, reaches its maximum or minimum value by using extremals, which enables the multi-robot system to reach the velocity formation in the least time. The proposed approach is verified in a theoretical analysis along with the numerical simulation process. The simulation results demonstrated that using the proposed switched system, the time-optimal consensus algorithm behaved very well in the networks with different numbers of robots and different topology conditions. The required time for the consensus formation is dramatically reduced, which is very promising. The findings of this work could be extended to and beneficial for any multi-wheeled mobile robot system.

Multimedia and Virtual Reality for the Control of a Multiple Wheeled Mobile Robot System

1997 ◽  
Author(s):  
Xin Feng ◽  
Steven A. Velinsky
Keyword(s):  
Virtual Reality ◽  
Mobile Robot ◽  
Crack Detection ◽  
Video Camera ◽  
Wheeled Mobile Robot ◽  
Host Computer ◽  
Monitoring And Control ◽  
Robot System ◽  
Live Video ◽  
Automated Highway

Abstract This paper describes the application of multimedia and virtual reality technology to a multiple wheeled mobile robot system. The system is designed for teleoperation of a variety of highway maintenance and construction tasks, such as automated highway pavement crack sealing. Each robot is tethered to a support truck through linkages, and has its own embedded controller for motion control and posture sensing. A host computer is dedicated to communicate with the robots and to provide a multimedia interface to the operator. A video camera is mounted above the robots’ workspace and live video is taken to the host computer’s video capture card which supports video overlay. The live video of the robot workspace is then overlaid on the robots’ control window and provides an augmented reality for crack detection, path planning, and robot monitoring. By mapping live video on the computer generated interactive robot animation, the operator can simply control any robot through finger motion on a touch screen. The host computer can also provide a virtual environment providing the operator with a sense that he is sitting on the robot, allowing the robot to be easily controlled with a joystick. This paper shows the manner in which fast growing and inexpensive multimedia PC technology, virtual reality concepts, and the newest programming tools like Visual C++ 4.0 and OpenGL 1.1 for Windows 95/NT can be used to build an integrated interactive monitoring and control interface allowing ease in teleoperation of a multiple robot system thus significantly improving operational performance.

Motion Tracker Based Wheeled Mobile Robot System Identification and Controller Design

2018 ◽  
pp. 241-258
Author(s):  
Dwi Pebrianti ◽  
Yong Hooi Hao ◽  
Nur Aisyah Syafinaz Suarin ◽  
Luhur Bayuaji ◽  
Zulkifli Musa ◽  
...  
Keyword(s):  
System Identification ◽  
Mobile Robot ◽  
Controller Design ◽  
Wheeled Mobile Robot ◽  
Robot System

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.

Development of a four-wheeled mobile robot system for bedridden patients

1986 ◽  
Vol 1 (4) ◽  
pp. 371-378
Author(s):  
Hiroyasu Funakubo ◽  
Tsuneshi Isomura ◽  
Takashi Komeda ◽  
Yukio Inuzuka
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Robot System

Research on NN-PID Motion Control Technology for a Wheeled Mobile Robot

2012 ◽  
Vol 538-541 ◽  
pp. 2636-2640
Author(s):  
Shi Zhu Feng ◽  
Ming Xu
Keyword(s):  
Mobile Robot ◽  
Motion Control ◽  
Pid Controller ◽  
Mobile Robotics ◽  
Kinematic Model ◽  
Wheeled Mobile Robot ◽  
Control Technology ◽  
Robot System

Robotics is a spiry integral technology of mechanics, electrics and cybernetics. Through systematical study of a wheeled mobile robot, The kinematic model of it is deduced. A Cerebella Model Articulation Controller (CMAC) PID controller was developed to control the motion to accomplish the realistic motions of the wheeled mobile robot system. The experimental is carried out. The results prove the algorithm is correct, and indicate that the design of CMAC-PID controller is a success. The whole research will provide a reference to the study of the mobile robotics.

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.

DEVELOPMENT OF LEADER AND FOLLOWER STRATEGY FOR SWARM ROBOT APPLICATIONS

2015 ◽  
Vol 77 (28) ◽  
Author(s):  
Humairah Mansor ◽  
Abdul Hamid Adom ◽  
Norasmadi Abdul Rahim
Keyword(s):  
Wireless Communication ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Communication Strategy ◽  
Robot System ◽  
Testing Environment ◽  
Odour Source ◽  
Wide Range ◽  
Robust System ◽  
Swarm Robot

Swarming robots basically consist of a group of several simple robots that interact and collaborate with each other to achieve shared goals. A single robot system is not suitable to be used as an agent for the navigation usually covers a wide range of area. Therefore, a group of simple robots is introduced. A group of robots can perform their tasks together in a more efficient way compared to a single robot; hence develop a more robust system. In order to interact, a wireless communication strategy is implemented to enable the group of mobile robots to perform their tasks. This project implements the swarming algorithm by supplementing the ability of mobile robot platforms with autonomy and odour detection. The work focused on the localization of chemical odour source in the testing environment and the leader and follower swarm formation through wireless communication. To enable the mobile robots to communicate with each other and able to perform leader and follower designation once the target has been found, the RSSI value of X-Bee module is used.

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.

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