Coordination Control of Wheeled Mobile Robot Using MPC

2015 ◽  
Author(s):  
Muhammad Farhan Manzoor ◽  
Qinghe Wu ◽  
Rana Javed Masood
Keyword(s):  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Coordination Control

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.

scholarly journals A Hybrid Tracking Control Strategy for Nonholonomic Wheeled Mobile Robot Incorporating Deep Reinforcement Learning Approach

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 15592-15602
Author(s):  
Xueshan Gao ◽  
Rui Gao ◽  
Peng Liang ◽  
Qingfang Zhang ◽  
Rui Deng ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Mobile Robot ◽  
Control Strategy ◽  
Tracking Control ◽  
Wheeled Mobile Robot ◽  
Learning Approach
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