Fuzzy tracking method with a switching grey prediction for mobile robot

2002 ◽  
Author(s):  
Ching-Chang Wong ◽  
Bo-Chen Lin ◽  
Chi-Tai Cheng
Keyword(s):  
Mobile Robot ◽  
Grey Prediction ◽  
Tracking Method

A Stable Tracking Control Method for an Autonomous Welding Mobile Robot

2011 ◽  
Vol 79 ◽  
pp. 264-269 ◽  
Author(s):  
Yan Qing Wang ◽  
Yan Hui Ye ◽  
Hua Zhang
Keyword(s):  
Mobile Robot ◽  
Tracking Control ◽  
Control Method ◽  
Liapunov Function ◽  
Oscillatory Property ◽  
Tracking Method ◽  
Spherical Tank ◽  
Line Tracking ◽  
The Stability ◽  
Large Spherical

This paper proposes an Autonomous Welding Mobile Robot (AWMR) used in shipbuilding and large spherical tank welding and its control method. In this method, both the moving and rotating velocity of the mobile platform and the cross slider were controlled simultaneously. The stability of control method was proved through the use of a Liapunov function. Although any set of positive parameters makes the system stable, a condition on the parameters for the system being critically damped for a small disturbance is obtained through linearizing the system's differential equation. In the simulation, we analyzed line and circle-line tracking problem. And the tracking responses with and without velocity limited is also presented. It is shown that the output responses represent non-oscillatory property and effectiveness of the tracking method.

Path Tracking Method for Traveling-Wave-Type Omnidirectional Mobile Robot (TORoIII)

2012 ◽  
Vol 24 (2) ◽  
pp. 340-346 ◽  
Author(s):  
Teruyoshi Ogawa ◽  
◽  
Taro Nakamura
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Traveling Wave ◽  
Potential Method ◽  
Path Tracking ◽  
Planning Method ◽  
Stable Operation ◽  
Wave Type ◽  
Tracking Method ◽  
Path Tracking Method

An omnidirectional movement mechanism is needed that can move a robot in a narrow complicated passage. However, existing mechanisms cannot achieve stable operations. We noted that a snail uses traveling waves and can achieve a stable operation because of a large landing area. We therefore developed a traveling-wave-type mobile robot (TORoIII) using a snail’s locomotive mechanism. However, the directions of the robot were restricted by the number of units, i.e., the directions corresponded to the number of units. In addition, to use this robot as an autonomous robot, self-localization method and path planning method are required. At present, these methods for this robot have not been proposed. In this study, we propose a new perfectly omnidirectional locomotion strategy for TORoIII. In addition, we propose odometry based on kinematics and path planning method based on potential method. Furthermore, we propose online path tracking method using the odometry. We experimentally confirmed the utility of these proposed methods.

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