A hybrid mobile robot architecture with integrated planning and control

2002 ◽  
Author(s):  
Kian Hsiang Low ◽  
Wee Kheng Leow ◽  
Marcelo H. Ang
Keyword(s):  
Mobile Robot ◽  
Integrated Planning ◽  
Planning And Control ◽  
Robot Architecture ◽  
And Control

Differential Flatness-Based Robust Control of a Two-Wheeled Mobile Robot in the Presence of Slip

2008 ◽  
Author(s):  
Ji-Chul Ryu ◽  
Sunil K. Agrawal
Keyword(s):  
Robust Control ◽  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Differential Flatness ◽  
Robust Controllers ◽  
Robust Controller ◽  
Planning And Control ◽  
Tracking Controllers ◽  
Simulation Results ◽  
And Control

In this paper, we present two robust trajectory-tracking controllers for a differentially driven two-wheeled mobile robot using its kinematic and dynamic model in the presence of slip. The structure of the differential flatness-based controller, which is an integrated framework for planning and control, is extended in this paper to account for slip disturbances by adding a corrective control term. Simulation results for both kinematic and dynamic controllers are presented to demonstrate the effectiveness of the robust controllers. Experiments with the kinematic controller were conducted to validate the performance of the robust controller. The simulation and experimental results show that the robust controllers are very effective in the presence of slip.

Intelligent Motion Planning and Control for a Simulated Mobile Robot

1997 ◽  
Vol 30 (21) ◽  
pp. 351-356 ◽  
Author(s):  
Andon V. Topalov ◽  
Diana D. Tsankova ◽  
Michail G. Petrov ◽  
Todor Ph. Proychev
Keyword(s):  
Mobile Robot ◽  
Motion Planning ◽  
Planning And Control ◽  
And Control

Path-based approach to integrated planning and control for robotic systems

Automatica ◽  
1996 ◽  
Vol 32 (12) ◽  
pp. 1675-1687 ◽  
Author(s):  
Tzyh-Jong Tarn ◽  
Ning Xi ◽  
Antal K. Bejczy
Keyword(s):  
Robotic Systems ◽  
Integrated Planning ◽  
Planning And Control ◽  
And Control

Mechatronics Engineering on the Example of a Multipurpose Mobile Robot

2009 ◽  
Vol 147-149 ◽  
pp. 61-66 ◽  
Author(s):  
Marek Stania ◽  
Ralf Stetter
Keyword(s):  
Mobile Robot ◽  
Design Process ◽  
Level Control ◽  
Mechatronic System ◽  
Mechatronic Systems ◽  
Mechatronic Design ◽  
Planning And Control ◽  
And Control

This paper presents the patented mechanical concept for steering and level control of a mobile robot equipped with four driving units and the methods that lead to the development of this mechatronic system. The mobile robot exhibits excellent maneuverability and considerable advantages when moving in difficult environments such as rough landscapes. The paper discusses a refined approach to develop mechatronic systems which is based on the well-known V-model. The refined approach allows a conscious planning and control of a mechatronic design process.

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