Dynamics-Based Piecewise Constant Control of Omni-Vehicle

In this paper, we consider the dynamics of a mobile vehicle moving under control on a perfectly rough horizontal plane. The vehicle consists of a horizontal platform and three omni-wheels that can rotate independently. An omni-wheel has freely rotating rollers on its rim [1]. We use its simplest model: an omni-wheel on a perfectly rough plane is modelled as a rigid disk with a constraint that its contact point velocity directed perpendicular to the disk's plane. The vehicle is controlled by three direct current motors in wheels' axes. Two terms model torques generated by motors: the rst one is proportional to the voltage, the second one is proportional to the value of the angular velocity of a wheel (counter-electromotive force). We study constant voltage dynamics and boundary-value problems for arbitrary initial and nal mass center coordinates, course angles and their derivatives using a piecewise constant control with one switching point. This problem is reduced to a system of algebraic equations for some specific (symmetric) vehicle model. We numerically model the system and analyze the possibility of optimization. For another vehicle configuration, we get the solution as numerical parametric continuation starting from the solution for the symmetric vehicle.

The Telemetry Control System on Omni wheel Enemy Infiltrator Robot Based on Internet of Things (IoT)

The development of sophisticated technology in the era of the industrial revolution 4.0, namely the collaboration between automation technology and the internet, causing changes in the combat and reconnaissance model to be remotely. The internet of things based omni wheel robot is divided into three module units, the main module, the data processing module, and the drive module. This concept uses a telemetry control system that is integrated with computers and the internet for data processing. The omni wheel robot is used in urban terrain for autonomous mobile surveillance operations and webcam monitoring via a web server. The omni wheel robot is designed to use four omni wheel controls and a trajectory as the main autonomous drive for the robot, the raspberry pi 3 is a microcontroller for processing programs on the robot and the webcam is used to take pictures of the terrain the robot passes through. All controls on the omni wheel robot use a telemetry system by using Wi-Fi internet network access remotely to minimize losses for TNI soldiers’ personnel in carrying out reconnaissance tasks.

Approaches to motion control intellectualization of a mobile robot

The paper considers the principles of intelligent motion control of mobile robots using the example of omni-wheel modules. The proposed design solution uses components of movement intelligence in any direction, receiving commands from a human operator or above a standing automatic control device, consisting of an angle of movement direction and the required distance of movement. This paper presents an embodiment of using omni-wheels to move a mobile robot over a flat surface. Features of device and application of drive with three omni-wheels in comparison with differential drive are considered. Kinematics, basic principles of motion control formation, hardware and software complex for its implementation are described. There were revealed two alternative methods of organization of drive control in conditions of shortage of low-level hardware resources on the basis of 8-bit microcontroller, their advantages and disadvantages have been analyzed. Process support and materials have been presented that allows realizing the competitive advantages of development while minimizing the cost of components. Features of mobile robot travel route development have been mentioned on the example of competitive practice.

Rancang Bangun Robot Three wheeled Omnidirectional Dengan Konfigurasi Mikrokontroler Master-Slave

Three wheeled omnidirectional robot has been used in industries and academics fields because its ability to move freely and simultaneously both rotation and translation. Free movement in this robot is assisted by omni wheel which consists of wheels and rollers. So, the movement of this robot is a combination of wheel and roller rotation. At present, the task given to the mobile robot is increasingly complex, so it makes microcontroller’s workload heavier. A microcontroller’s workload could be lightened by master-slave configuration to divide the microcontroller’s tasks. The wheel rotating speed control system uses a pid controller to obtain a fast and stable wheel speed response. The PID parameters, kp,ki,kd were obtained by using the hand tuning method. The testing results shown the average error of robot direction is 4,3750 and the direction of the robot’s face changed 5.750.