Time-optimal motions for a torque controlled wheeled mobile robot along specified paths

2002 ◽  
Author(s):  
J.-Y. Fourquet ◽  
M. Renaud
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Time Optimal

Velocity, acceleration and deceleration bounds for a time-optimal planner of a wheeled mobile robot

Robotica ◽  
2002 ◽  
Vol 20 (2) ◽  
pp. 181-193 ◽  
Author(s):  
Maria Prado ◽  
Antonio Simón ◽  
Francisco Ezquerro
Keyword(s):  
Mobile Robot ◽  
Dynamic Model ◽  
Dynamic Characteristics ◽  
Wheeled Mobile Robot ◽  
Ground Contact ◽  
Wheel Rolling ◽  
Boundary Functions ◽  
Time Optimal ◽  
Acceleration And Deceleration ◽  
Upper Boundary

Three single-valued upper boundary functions for velocity, acceleration and deceleration of a wheeled mobile robot (WMR) are defined as closed mathematical forms over its entire spatial path. The limits deal with mechanical, kinematic and dynamic characteristics of the robot and with task and operating matters. These boundary functions can be computed making use of any robot model, as complex as is needed, since it works offline.All studies are particularised for the robot RAM. A kinematic and a complete dynamic model of this WMR is built, with special attention on the study of wheel-ground contact efforts. For this purpose an empirical-analytical model of rubber wheel rolling is developed.

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.

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

Recent Patents on Omni-Directional Wheel Applied on Wheeled Mobile Robot

2016 ◽  
Vol 9 (3) ◽  
pp. 215-221
Author(s):  
Junpeng Shao ◽  
Tianhua He ◽  
Jingang Jiang ◽  
Yongde Zhang
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot

A hierarchical constraint approach for dynamic modeling and trajectory tracking control of a mobile robot

2021 ◽  
pp. 107754632199918
Author(s):  
Rongrong Yu ◽  
Shuhui Ding ◽  
Heqiang Tian ◽  
Ye-Hwa Chen
Keyword(s):  
Mobile Robot ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Structural Constraints ◽  
Control Force ◽  
Trajectory Tracking Control ◽  
Motion Constraints ◽  
Constraint Approach

The dynamic modeling and trajectory tracking control of a mobile robot is handled by a hierarchical constraint approach in this study. When the wheeled mobile robot with complex generalized coordinates has structural constraints and motion constraints, the number of constraints is large and the properties of them are different. Therefore, it is difficult to get the dynamic model and trajectory tracking control force of the wheeled mobile robot at the same time. To solve the aforementioned problem, a creative hierarchical constraint approach based on the Udwadia–Kalaba theory is proposed. In this approach, constraints are classified into two levels, structural constraints are the first level and motion constraints are the second level. In the second level constraint, arbitrary initial conditions may cause the trajectory to diverge. Thus, we propose the asymptotic convergence criterion to deal with it. Then, the analytical dynamic equation and trajectory tracking control force of the wheeled mobile robot can be obtained simultaneously. To verify the effectiveness and accuracy of this methodology, a numerical simulation of a three-wheeled mobile robot is carried out.

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