Kinodynamic Motion Planning for a Two-Wheel-Drive Mobile Robot

2018 ◽  
pp. 332-346
Author(s):  
Kimiko Motonaka
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Invariant Manifold ◽  
Nonholonomic System ◽  
Control Method ◽  
Controller Design ◽  
Dynamic Control ◽  
Target Position ◽  
Arbitrary Point ◽  
Wheel Drive

Since a nonholonomic system such as a robot with two independent driving wheels includes complicated nonlinear terms generally, it is hard to realize a stable and tractable controller design. However, about a dynamic control method for the motion planning, it is guaranteed that a nonholonomic-controlled object can always be converged to an arbitrary point using a control method based on an invariant manifold. Based on it, the method called “kinodynamic motion planning” was proposed to converge the states of the two-wheeled mobile robot to the arbitrary target position while avoiding obstacles by combining the control based on the invariant manifold and the HPF. In this chapter, how to combine the invariant manifold control and the concept of the HPF is explained in detail, and the usefulness of the proposed approach is verified through some simulations.

scholarly journals Mission Accomplished: An Introduction to Formal Methods in Mobile Robot Motion Planning and Control

2014 ◽  
Vol 02 (02) ◽  
pp. 201-216 ◽  
Author(s):  
Hai Lin
Keyword(s):  
Model Checking ◽  
Mobile Robot ◽  
Motion Planning ◽  
Formal Methods ◽  
Temporal Logic ◽  
Controller Design ◽  
Research Area ◽  
Natural Languages ◽  
High Level ◽  
Logic Model Checking

A new trend in the robotic motion planning literature is to use formal methods, like model checking, reactive synthesis and supervisory control theory, to automatically design controllers that drive a mobile robot to accomplish some high level missions in a guaranteed manner. This is also known as the correct-by-construction method. The high level missions are usually specified as temporal logics, particularly as linear temporal logic formulas, due to their similarity to human natural languages. This paper provides a brief overview of the recent developments in this newly emerged research area. A number of fundamental topics, such as temporal logic, model checking, bisimulation quotient transition systems and reachability controller design are reviewed. Additionally, the key challenges and possible future directions in this area are briefly discussed with references given for further reading.

Regular perturbations to the motion of a three-wheeled mobile robot with the front-wheel drive under restricted state variables*

2020 ◽  
Author(s):  
Roman Chertovskih ◽  
Anna Daryina ◽  
Askhat Diveev ◽  
Dmitry Karamzin ◽  
Fernando L. Pereira ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Front Wheel ◽  
Wheeled Mobile Robot ◽  
State Variables ◽  
Wheel Drive

Path Planning of Mobile Robot Using Improved Artificial Bee Colony Algorithm

2020 ◽  
Vol 38 (9A) ◽  
pp. 1384-1395
Author(s):  
Rakaa T. Kamil ◽  
Mohamed J. Mohamed ◽  
Bashra K. Oleiwi
Keyword(s):  
Mobile Robot ◽  
Comparative Research ◽  
Artificial Bee Colony Algorithm ◽  
Artificial Bee Colony ◽  
Dynamic Control ◽  
Computational Time ◽  
Bee Colony ◽  
Shortest Distance ◽  
Minimum Number ◽  
Cubic Polynomial

A modified version of the artificial Bee Colony Algorithm (ABC) was suggested namely Adaptive Dimension Limit- Artificial Bee Colony Algorithm (ADL-ABC). To determine the optimum global path for mobile robot that satisfies the chosen criteria for shortest distance and collision–free with circular shaped static obstacles on robot environment. The cubic polynomial connects the start point to the end point through three via points used, so the generated paths are smooth and achievable by the robot. Two case studies (or scenarios) are presented in this task and comparative research (or study) is adopted between two algorithm’s results in order to evaluate the performance of the suggested algorithm. The results of the simulation showed that modified parameter (dynamic control limit) is avoiding static number of limit which excludes unnecessary Iteration, so it can find solution with minimum number of iterations and less computational time. From tables of result if there is an equal distance along the path such as in case A (14.490, 14.459) unit, there will be a reduction in time approximately to halve at percentage 5%.

Study and Implement on Key Technologies of Ship-Welding Mobile Robot

2010 ◽  
Vol 44-47 ◽  
pp. 321-325
Author(s):  
Liang Hua ◽  
Lin Lin Lv ◽  
Ju Ping Gu ◽  
Yu Jian Qiang
Keyword(s):  
Mobile Robot ◽  
Control Method ◽  
Structure Design ◽  
Seam Tracking ◽  
Precision Positioning ◽  
Positioning Control ◽  
Controlling System ◽  
Welding Torch ◽  
Driven System ◽  
And Control

The key technilogies of ship-welding mobile robot applied to ship-building in plane block production line were researched and realized. The mechanical structure design of the robot was completed. The motion-controlling system of of two-wheel differential driving mobile robot was developed. A novel precision positioning control method of welding torch using ultrasonic motors was putforward. The mechanism and control-driven system of precision positioning system for welding torch were completed. The platform of obstacle avoidance navigation system was designed and the strategies of seam tracking, trajectory and posture adjustment were preliminary studied. The methods and results put forward in the paper could act as the base of deep research on the theories and technologies of ship-welding mobile robot.

Motion Planning of a Nonholonomic Multibody System Using Genetic Algorithm

2003 ◽  
Author(s):  
Xin-Sheng Ge ◽  
Li-Qun Chen
Keyword(s):  
Genetic Algorithm ◽  
Motion Planning ◽  
Nonholonomic System ◽  
Multibody System ◽  
Planning Problem ◽  
Control Approach ◽  
Velocity Constraints ◽  
Nonholonomic Motion Planning ◽  
Optimal Control Approach ◽  
Motion Planning Problem

The motion planning problem of a nonholonomic multibody system is investigated. Nonholonomicity arises in many mechanical systems subject to nonintegrable velocity constraints or nonintegrable conservation laws. When the total angular momentum is zero, the control problem of system can be converted to the motion planning problem for a driftless control system. In this paper, we propose an optimal control approach for nonholonomic motion planning. The genetic algorithm is used to optimize the performance of motion planning to connect the initial and final configurations and to generate a feasible trajectory for a nonholonomic system. The feasible trajectory and its control inputs are searched through a genetic algorithm. The effectiveness of the genetic algorithm is demonstrated by numerical simulation.

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