Following A Dynamic Object Through A Transient Response Adjustable MPC

Following A Dynamic Object Through A Transient Response Adjustable MPC (Extended Version)

10.36227/techrxiv.12740372.v2 ◽

2021 ◽

Author(s):

Sanghyun Hong ◽

Justin Miller ◽

Jianbo Lu

Keyword(s):

Mobile Robot ◽

Transient Response ◽

Response Characteristic ◽

Dynamic Object ◽

Extended Version ◽

Motion Controller ◽

Real Robot ◽

Robot Platform

We developed an MPC motion controller for a mobile robot to follow a dynamic object. The main contribution is to find an adjustable transient response characteristic in a special formulation of MPC and apply to a real robot platform.

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Following A Dynamic Object Through A Transient Response Adjustable MPC

10.36227/techrxiv.12740372 ◽

2020 ◽

Author(s):

Sanghyun Hong ◽

Justin Miller ◽

Jianbo Lu

Keyword(s):

Mobile Robot ◽

Transient Response ◽

Response Characteristic ◽

Dynamic Object ◽

Motion Controller ◽

Real Robot ◽

Robot Platform

We developed an MPC motion controller for a mobile robot to follow a dynamic object. The main contribution is to find an adjustable transient response characteristic in a special formulation of MPC and apply to a real robot platform.

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Intelligent Autonomous Navigation System for the Wheeled Mobile Robot

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.383-390.1611 ◽

2011 ◽

Vol 383-390 ◽

pp. 1611-1618 ◽

Cited By ~ 1

Author(s):

Truong Minh Dat ◽

Yu Feng Neil Nieh ◽

Min Fan Ricky Lee ◽

Wijayanti Nurul Khotimah ◽

Luu Quoc Dat

Keyword(s):

Mobile Robot ◽

Autonomous Navigation ◽

Dead Zone ◽

Ccd Camera ◽

Selection Strategy ◽

Switching Strategy ◽

Virtual Target ◽

Intelligent Behavior ◽

Real Robot ◽

Robot Platform

An intelligent behavior control system for an autonomous mobile robot operating in an unstructured environment with sensor uncertainties is proposed. This study focuses on implementing and improving the methodology from Motlagh et al. [7] on a two-wheeled P3DX mobile robot. Motlagh et al. verified their design with computer simulation. When applying it on a real robot platform, we noticed some problems and improved the design using sensor selection strategy, safe rule and target switching strategy. The proposed sensor fusion architecture introduces two additional sensors, a laser range finder on the robot and an omnidirectional CCD camera on the ceiling, to improve the reliability of the sensing capability of P3DX mobile robot. The target switching strategy is used to guide the robot out of a dead zone and reach the target by creating a virtual target. Results of the experiments with the U-shaped and subspace dead zones are presented. These results proved that the target switching strategy successfully dealt with the loop path problem in the dead zone.

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Characteristic Analysis of a Micro DC-DC Converter for Portable Electronic Devices and an Improvement of Transient Response Characteristic

IEEJ Transactions on Industry Applications ◽

10.1541/ieejias.128.1373 ◽

2008 ◽

Vol 128 (12) ◽

pp. 1373-1380

Author(s):

Satoshi Sugahara ◽

Kouhei Yamada ◽

Haruhiko Nishio ◽

Masaharu Edo ◽

Toshiro Sato ◽

...

Keyword(s):

Transient Response ◽

Electronic Devices ◽

Response Characteristic ◽

Characteristic Analysis

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Autonomous mobile robot platform with multi-variant task-specific end-effector and voice activation

2016 World Automation Congress (WAC) ◽

10.1109/wac.2016.7583014 ◽

2016 ◽

Cited By ~ 1

Author(s):

Jonathan Tapia ◽

Eric Wineman ◽

Patrick Benavidez ◽

Aldo Jaimes ◽

Ethan Cobb ◽

...

Keyword(s):

Mobile Robot ◽

Autonomous Mobile Robot ◽

End Effector ◽

Robot Platform

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Practical Model for Energy Consumption Analysis of Omnidirectional Mobile Robot

Sensors ◽

10.3390/s21051800 ◽

2021 ◽

Vol 21 (5) ◽

pp. 1800

Author(s):

Linfei Hou ◽

Fengyu Zhou ◽

Kiwan Kim ◽

Liang Zhang

Keyword(s):

Energy Consumption ◽

Power Consumption ◽

Mobile Robot ◽

Load Capacity ◽

Working Environment ◽

Energy Consumption Analysis ◽

Mecanum Wheel ◽

Save Energy ◽

Energy Consumption Modeling ◽

Robot Platform

The four-wheeled Mecanum robot is widely used in various industries due to its maneuverability and strong load capacity, which is suitable for performing precise transportation tasks in a narrow environment. While the Mecanum wheel robot has mobility, it also consumes more energy than ordinary robots. The power consumed by the Mecanum wheel mobile robot varies enormously depending on their operating regimes and environments. Therefore, only knowing the working environment of the robot and the accurate power consumption model can we accurately predict the power consumption of the robot. In order to increase the applicable scenarios of energy consumption modeling for Mecanum wheel robots and improve the accuracy of energy consumption modeling, this paper focuses on various factors that affect the energy consumption of the Mecanum wheel robot, such as motor temperature, terrain, the center of gravity position, etc. The model is derived from the kinematic and kinetic model combined with electrical engineering and energy flow principles. The model has been simulated in MATLAB and experimentally validated with the four-wheeled Mecanum robot platform in our lab. Experimental results show that the accuracy of the model reached 95%. The results of energy consumption modeling can help robots save energy by helping them to perform rational path planning and task planning.

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Motion Model of Two-Wheel Differential Drive Mobile Robot under Variable Load

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.668-669.352 ◽

2014 ◽

Vol 668-669 ◽

pp. 352-356 ◽

Cited By ~ 1

Author(s):

Zhi Hu Ruan ◽

Niu Wang ◽

Bing Xin Ran

Keyword(s):

Mobile Robot ◽

State Space Model ◽

Response Characteristic ◽

Model Parameters ◽

Variable Load ◽

Motion Model ◽

Actual System ◽

Wheel Load ◽

Differential Drive ◽

Entire Vehicle

Based on kinematics characteristic of two-wheeled differential drive mobile robot (WMR) and response characteristic of fact motor drive system, this paper presents the analysis method of the equivalent rotation inertia, and the entire vehicle load is assigned to each wheel, and then the wheel load is converted into the corresponding equivalent rotation inertia of the motor shaft of each wheel, and motion model of WMR are obtained for combining with quasi-equivalent (QE) state space model of double-loop direct current motor systems under variable load and kinematics model of WMR under the load changes. By using speed response data of the actual system and combining with genetic algorithm to accurately identify the model parameters. Finally, through experiments results of the WMR motion model and the second order model respectively comparing with the actual system which demonstrates the effectiveness of the proposing method and model.

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Direct Kinematic Analysis of a Hexapod Spider-Like Mobile Robot

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.403-408.5053 ◽

2011 ◽

Vol 403-408 ◽

pp. 5053-5060 ◽

Cited By ~ 2

Author(s):

Mostafa Ghayour ◽

Amir Zareei

Keyword(s):

Angular Velocity ◽

Mobile Robot ◽

Time Variation ◽

Kinematic Analysis ◽

The Body ◽

Specific Time ◽

Centre Of Gravity ◽

Joint Variable ◽

Direct Kinematics ◽

Robot Platform

In this paper, an appropriate mechanism for a hexapod spider-like mobile robot is introduced. Then regarding the motion of this kind of robot which is inspired from insects, direct kinematics of position and velocity of the centre of gravity (C.G.) of the body and noncontact legs are analysed. By planning and supposing a specific time variation for each joint variable, location and velocity of the C.G. of the robot platform and angular velocity of the body are obtained and the results are shown and analysed.

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