An Alternative for Trajectory Tracking in Mobile Robots Applying Differential Flatness

2013 ◽  
pp. 148-160
Author(s):  
Elkin Yesid Veslin Díaz ◽  
Jules G. Slama ◽  
Max Suell Dutra ◽  
Omar Lengerke Pérez ◽  
Hernán Gonzalez Acuña
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Differential Flatness ◽  
Boundary Values ◽  
Route Finding ◽  
Point To Point

One solution for trajectory tracking in a non-holonomic vehicle, like a mobile robot, is proposed in this chapter. Using the boundary values, a desired route is converted into a polynomial using a point-to-point algorithm. With the properties of Differential Flatness, the system is driven along this route, finding the necessary input values so that the system can perform the desired movement.

Reducing Trajectory Tracking Error of Flexible Mobile Robots Using Command Shaping With Error-Limiting Constraints

2017 ◽  
Author(s):  
Gerald Eaglin ◽  
Joshua Vaughan
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Error ◽  
Input Shaping ◽  
Flexible Systems ◽  
Command Shaping ◽  
Modeling Errors ◽  
Temporal Tracking ◽  
Point Motion ◽  
Point To Point

The ability to track a trajectory without significant error is a vital requirement for mobile robots. Numerous methods have been proposed to mitigate tracking error. While these trajectory-tracking methods are efficient for rigid systems, many excite unwanted vibration when applied to flexible systems, leading to tracking error. This paper analyzes a modification of input shaping, which has been primarily used to limit residual vibration for point-to-point motion of flexible systems. Standard input shaping is modified using error-limiting constraints to reduce transient tracking error for the duration of the system’s motion. This method is simulated with trajectory inputs constructed using line segments and Catmull-Rom splines. Error-limiting commands are shown to improve both spatial and temporal tracking performance and can be made robust to modeling errors in natural frequency.

scholarly journals Design Interval Type-2 Fuzzy Like (PID) Controller for Trajectory Tracking of Mobile Robot

2019 ◽  
pp. 1-15
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Pid Controller ◽  
Kinematic Model ◽  
Superior Performance ◽  
Fuzzy Like ◽  
Interval Type

One of the major problems in the field of mobile robots is the trajectory tracking problem. There are a big number of investigations for different control strategies that have been used to control the motion of the mobile robot when the nonlinear kinematic model of mobile robots was considered. The trajectory tracking control of autonomous wheeled mobile robot in a changing unstructured environment needs to take into account different types of uncertainties. Type-1 fuzzy logic sets present limitations in handling those uncertainties while type-2 fuzzy logic sets can manage these uncertainties to give a superior performance. This paper focuses on the design of interval type-2 fuzzy like proportional-integral-derivative (PID) controller for the kinematic model of mobile robot. The firefly optimization algorithm has been used to find the best values of controller’s parameters. The aim of this controller is trying to force the mobile robot tracking a pre-defined continuous path with minimum tracking error. The Matlab simulation results demonstrate the good performance and robustness of this controller. These were confirmed by the obtained values of the position tracking errors and a very smooth velocity, especially with regards to the presence of external disturbance or change in the initial position of mobile robot. Finally, in comparison with other proposed controllers, the results of nonlinear IT2FLC PID controller outperform the nonlinear PID neural controller in minimizing the MSE for all control variables and in the robustness measure.

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 An algorithm for formation control of mobile robots

2013 ◽  
Vol 10 (1) ◽  
pp. 59-72 ◽  
Author(s):  
Aleksandar Cosic ◽  
Marko Susic ◽  
Stevica Graovac ◽  
Dusko Katic
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Formation Control ◽  
Control Structure ◽  
Kinematic Model ◽  
The Real ◽  
Avoidance Control ◽  
Simulation Results ◽  
High Level

Solution of the formation guidance in structured static environments is presented in this paper. It is assumed that high level planner is available, which generates collision free trajectory for the leader robot. Leader robot is forced to track generated trajectory, while followers? trajectories are generated based on the trajectory realized by the real leader. Real environments contain large number of static obstacles, which can be arbitrarily positioned. Hence, formation switching becomes necessary in cases when followers can collide with obstacles. In order to ensure trajectory tracking, as well as object avoidance, control structure with several controllers of different roles (trajectory tracking, obstacle avoiding, vehicle avoiding and combined controller) has been adopted. Kinematic model of differentially driven two-wheeled mobile robot is assumed. Simulation results show the efficiency of the proposed approach.

Formation control and trajectory tracking of mobile robotic systems – a Linear Algebra approach

Robotica ◽  
2010 ◽  
Vol 29 (3) ◽  
pp. 335-349 ◽  
Author(s):  
Andrés Rosales ◽  
Gustavo Scaglia ◽  
Vicente Mut ◽  
Fernando di Sciascio
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Dynamic Model ◽  
Linear Algebra ◽  
Trajectory Tracking ◽  
Formation Control ◽  
Controller Design ◽  
Novel Approach ◽  
Algebra Approach ◽  
New Strategy

SUMMARYA novel approach for trajectory tracking of a mobile-robots formation by using linear algebra theory and numerical methods is presented in this paper. The formation controller design is based on the formation states concept and the dynamic model of a unicycle-like nonholonomic mobile robot. The proposed control law designed is decentralized and scalable. Simulations and experimental results confirm the feasibility and the effectiveness of the proposed controller and the advantages of using the dynamic model of the mobile robot. By using this new strategy, the formation of mobile robots is able to change its configuration (shape and size) and follow different trajectories in a precise way, minimizing the tracking and formation errors.

scholarly journals The Analysis of Trajectory Control of Non-holonomic Mobile Robots Based on Internet of Things Target Image Enhancement Technology and Backpropagation Neural Network

2021 ◽  
Vol 15 ◽  
Author(s):  
Lanfei Zhao ◽  
Ganlin Wang ◽  
Xiaosong Fan ◽  
Yufei Li
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Accuracy ◽  
Target Image ◽  
Backpropagation Neural Network ◽  
Robot Controller ◽  
Trajectory Tracking Controller ◽  
And Control

The trajectory tracking and control of incomplete mobile robots are explored to improve the accuracy of the trajectory tracking of the robot controller. First, the mathematical kinematics model of the non-holonomic mobile robot is studied. Then, the improved Backpropagation Neural Network (BPNN) is applied to the robot controller. On this basis, a mobile robot trajectory tracking controller combining the fuzzy algorithm and the neural network is designed to control the linear velocity and angular velocity of the mobile robot. Finally, the robot target image can be analyzed effectively based on the Internet of Things (IoT) image enhancement technology. In the MATLAB environment, the performances of traditional BPNN and improved BPNN in mobile robots' trajectory tracking are compared. The tracking accuracy before and after the improvement shows no apparent differences; however, the training speed of improved BPNN is significantly accelerated. The fuzzy-BPNN controller presents significant improvements in tracking speed and tracking accuracy compared with the improved BPNN. The trajectory tracking controller of the mobile robot is designed and improved based on the fuzzy BPNN. The designed controller combining the fuzzy algorithm and the improved BPNN can provide higher accuracy and tracking efficiency for the trajectory tracking and control of the non-holonomic mobile robots.

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.

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