Noise sensitivity of selected kinematic path following controllers for a unicycle

2014 ◽  
Vol 62 (1) ◽  
pp. 3-13
Author(s):  
U. Libal ◽  
J. Płaskonka
Keyword(s):  
Mobile Robot ◽  
Kinematic Model ◽  
Path Following ◽  
Noise Sensitivity ◽  
Control Algorithms ◽  
Statistical Techniques ◽  
Frenet Frame ◽  
State Variables ◽  
Kinematic Control ◽  
The One

Abstract In the paper a path following problem for a wheeled mobile robot of (2,0) type has been considered. The kinematic model of the robot was derived with respect to the Serret-Frenet frame. Two kinematic control algorithms - Samson and Morin-Samson - have been tested taking into account their sensitivity to a white noise with a zero mean appearing in the one of state variables. The properties of path following errors have been analysed using statistical techniques. The conclusions related to an acceptable level of noise and a range of applicability of the presented algorithms have been reached.

Path Following Control Algorithms Implemented in a Mobile Robot with OMNI Wheels

2016 ◽  
Vol 24 (3) ◽  
pp. 131-142
Author(s):  
J. Wang ◽  
◽  
A.Yu. Krasnov ◽  
Yu.A. Kapitanyuk ◽  
S.A. Chepinskiy ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Path Following ◽  
Control Algorithms ◽  
Path Following Control

Path following control algorithms implemented in a mobile robot with omni wheels

2016 ◽  
Vol 7 (4) ◽  
pp. 353-359 ◽  
Author(s):  
J. Wang ◽  
A. Yu. Krasnov ◽  
Yu. A. Kapitanyuk ◽  
S. A. Chepinskiy ◽  
Y. Chen ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Path Following ◽  
Control Algorithms ◽  
Path Following Control

Near minimum-time direct voltage control algorithms for wheeled mobile robots with current and voltage constraints

Robotica ◽  
2001 ◽  
Vol 19 (1) ◽  
pp. 29-39 ◽  
Author(s):  
Jong-Suk Choi ◽  
Byung Kook Kim
Keyword(s):  
Mobile Robots ◽  
Path Following ◽  
Voltage Control ◽  
Minimum Time ◽  
Control Algorithms ◽  
Wheeled Mobile Robots ◽  
Quadratic Problem ◽  
Nonlinear Properties ◽  
Direct Voltage ◽  
The One

Near minimum-time direct voltage control (DVC) algorithms synthesizing path-planning and path-following are proposed for wheeled mobile robots (WMRs) satisfying (i) initial and final postures and velocities as well as (ii) voltage and current constraints. To overcome nonholonomic and nonlinear properties of WMRs, we divide our control algorithm for cornering motion into three sections: TSD (Translational Section of Deceleration), RS (Rotational Section), and TSA (Translational Section of Acceleration). We developed off-line DVC algorithms using the quadratic problem with the object function minimizing the total time, where voltages to the motors are controlled directly without velocity/torque-servo modules, while satisfying the current constraints. Two methods of searching for the two control parameters (number of steps for RS MR and velocity constraint in RS β) were considered: The one is composed of one simple 1-dimensional search for β, and the other is composed of two 1-dimensional searches for MR and β which has better performance. Performances of the proposed control algorithms are validated via various simulations.

Simultaneous tracking and stabilization of an omnidirectional mobile robot in polar coordinates: a unified control approach

Robotica ◽  
2009 ◽  
Vol 27 (3) ◽  
pp. 447-458 ◽  
Author(s):  
Hsu-Chih Huang ◽  
Ching-Chih Tsai
Keyword(s):  
Mobile Robot ◽  
Feedback Linearization ◽  
Control Method ◽  
Kinematic Model ◽  
Path Following ◽  
Polar Space ◽  
Polar Coordinates ◽  
Control Approach ◽  
Omnidirectional Mobile Robot ◽  
Omnidirectional Wheels

SUMMARYThis paper presents a polar-space kinematics control method to achieve simultaneous tracking and stabilization for an omnidirectional wheeled mobile robot with three independent driving omnidirectional wheels equally spaced at 120° from one another. The kinematic model of the robot in polar coordinates is presented. With the kinematic model, a kinematic control method based on feedback linearization is proposed in order to achieve simultaneous tracking and stabilization. The proposed method is easily extended to address the path following problem. Computer simulations and experimental results are presented to show the effectiveness and usefulness of the proposed control method at slow speeds.

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

Filippov solutions of vector Dirichlet problems

2020 ◽  
Vol 70 (2) ◽  
pp. 401-416
Author(s):  
Hana Machů
Keyword(s):  
Differential Equations ◽  
The State ◽  
State Variables ◽  
Dirichlet Problems ◽  
Filippov Solutions ◽  
Natural Notion ◽  
Growth Restrictions ◽  
The One ◽  
The Right ◽  
Effective Growth

Abstract If in the right-hand sides of given differential equations occur discontinuities in the state variables, then the natural notion of a solution is the one in the sense of Filippov. In our paper, we will consider this type of solutions for vector Dirichlet problems. The obtained theorems deal with the existence and localization of Filippov solutions, under effective growth restrictions. Two illustrative examples are supplied.

scholarly journals An Estimator for the Kinematic Behaviour of a Mobile Robot Subject to Large Lateral Slip

2021 ◽  
Vol 11 (4) ◽  
pp. 1594 ◽  
Author(s):  
Andrea Botta ◽  
Paride Cavallone ◽  
Luigi Tagliavini ◽  
Luca Carbonari ◽  
Carmen Visconte ◽  
...  
Keyword(s):  
Experimental Data ◽  
Mobile Robot ◽  
Trajectory Planning ◽  
Kinematic Model ◽  
Close Connection ◽  
Wheel Slip ◽  
Robot Architecture ◽  
Experimental Campaign ◽  
Base Concept ◽  
Kinematic Behaviour

In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is done to identify if it is possible to kinematically compensate trajectories that otherwise would be subject to large lateral slip. Due to the close connection to the experimental data, the results shown are valid only for Epi.q, the prototype that is the main object of this manuscript. Nonetheless, the base concept can be usefully applied to any mobile robot subject to large lateral slip.

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