Kinematics, dynamics and control of wheeled mobile robots

2003 ◽  
Author(s):  
Yilin Zhao ◽  
S.L. BeMent
Keyword(s):  
Mobile Robots ◽  
Wheeled Mobile Robots ◽  
Dynamics And Control ◽  
And Control

About Model Separation Techniques and Control Problems of Wheeled Mobile Robots

2020 ◽  
pp. 1119-1127
Author(s):  
Dao Phuong Nam ◽  
Nguyen Hoang Ha ◽  
Vu Anh Tran ◽  
Do Duy Khanh ◽  
Nguyen Dinh Khue ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Control Problems ◽  
Wheeled Mobile Robots ◽  
Separation Techniques ◽  
And Control

Dynamic Modeling and Control of Dual Wheeled Mobile Robots Compliantly Coupled to a Common Payload

1999 ◽  
Vol 121 (3) ◽  
pp. 457-461 ◽  
Author(s):  
Thurai Vinay ◽  
Bradley Postma ◽  
Theo Kangsanant
Keyword(s):  
Mobile Robots ◽  
Pole Placement ◽  
Nonlinear Controller ◽  
Wheeled Mobile Robots ◽  
Adaptive Controllers ◽  
Modeling And Control ◽  
Self Tuning ◽  
The Individual ◽  
And Control ◽  
Placement Technique

Lagrange formalism is applied to derive a dynamic model, and design a nonlinear controller for two nonholonomic, differentially steered, wheeled mobile robots compliantly linked to a common payload. The resulting multivariable system model is of a large order and can be block decoupled by selective state feedback into five independent subsystems, two of which effectively represent the deviation dynamics of the individual robots from a prescribed path; two others represent their forward motion dynamics; while the fifth describes the payload dynamics. Controllers for each of the robot subsystems, including self-tuning adaptive controllers for the nonlinear deviation dynamics subsystems, are designed by the pole-placement technique. System performance is then evaluated via simulation for the case where each robot is undergoing curvilinear motion.

scholarly journals Kinematics, dynamics and control design of 4WIS4WID mobile robots

2015 ◽  
Vol 2015 (1) ◽  
pp. 6-16 ◽  
Author(s):  
Ming-Han Lee ◽  
Tzuu-Hseng S. Li
Keyword(s):  
Mobile Robots ◽  
Control Design ◽  
Dynamics And Control ◽  
And Control

Control Algorithm for Four-Wheeled Robot Motionfor Monit oring Problems

2009 ◽  
Vol 147-149 ◽  
pp. 31-34
Author(s):  
Maryna P. Mukhina
Keyword(s):  
Mobile Robots ◽  
Motion Control ◽  
Control Algorithm ◽  
Kinematics And Dynamics ◽  
Wheeled Mobile Robots ◽  
Wheeled Robot ◽  
Navigation And Control ◽  
Monitoring And Surveillance ◽  
Robotic Vehicle ◽  
And Control

Monitoring and surveillance by means of mobile robots are of great importance in a number of various applications. The level of technology and science development is high enough to use robotic vehicle for monitoring in dangerous or hard-to-reach areas, for continuous surveillance of large industrial objects, in military purposes. The main problems in this area are navigation and control of vehicle. The majority of articles are dedicated to problems of motion control of wheeled mobile robots with two or three wheels [1-2]. As to four-wheeled mobile robots its kinematics and dynamics are considered in [3].

scholarly journals Optimal formation and control of cooperative wheeled mobile robots

2015 ◽  
Vol 343 (5-6) ◽  
pp. 307-321 ◽  
Author(s):  
Adel Abbaspour ◽  
Khalil Alipour ◽  
Hadi Zare Jafari ◽  
S. Ali A. Moosavian
Keyword(s):  
Mobile Robots ◽  
Wheeled Mobile Robots ◽  
And Control
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