Analysis and Control of High-Speed Wheeled Mobile Robots

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.

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Sensorless collision detection and control by physical interaction for wheeled mobile robots

Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction - HRI '12 ◽

10.1145/2157689.2157715 ◽

2012 ◽

Cited By ~ 6

Author(s):

Guillaume Doisy

Keyword(s):

Mobile Robots ◽

Collision Detection ◽

Physical Interaction ◽

Wheeled Mobile Robots ◽

And Control

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Control Algorithm for Four-Wheeled Robot Motionfor Monit oring Problems

Solid State Phenomena ◽

10.4028/www.scientific.net/ssp.147-149.31 ◽

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].

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Verification of a Wheeled Mobile Robot Dynamic Model and Control Ramifications

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2802442 ◽

1999 ◽

Vol 121 (1) ◽

pp. 58-63 ◽

Cited By ~ 9

Author(s):

Daehie Hong ◽

Steven A. Velinsky ◽

Xin Feng

Keyword(s):

Dynamic Model ◽

High Speed ◽

Kinematic Model ◽

High Load ◽

Wheeled Mobile Robots ◽

Model Based Control ◽

Practical Applications ◽

High Speeds ◽

Kinematic Models ◽

And Control

For low speed, low acceleration, and lightly loaded applications, kinematic models of Wheeled Mobile Robots (WMRs) provide reasonably accurate results. However, as WMRs are designed to perform more demanding, practical applications with high speeds and/or high loads, kinematic models are no longer valid representations. This paper includes experimental results for a heavy, differentially steered WMR for both loaded and unloaded conditions. These results are used to verify a recently developed dynamic model which includes a complex tire representation to accurately account for the tire/ground interaction. The dynamic model is then exercised to clearly show the inadequacy of kinematic models for high load and/or high speed conditions. Furthermore, through simulation, the failure of kinematic model based control for such applications is also shown.

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