scholarly journals Modeling and Trajectory Planning Optimization for the Symmetrical Multiwheeled Omnidirectional Mobile Robot

Symmetry ◽  
2021 ◽  
Vol 13 (6) ◽  
pp. 1033
Author(s):  
Eyad Almasri ◽  
Mustafa Kemal Uyguroğlu
Keyword(s):  
Mathematical Model ◽  
Mobile Robot ◽  
Trajectory Planning ◽  
Trajectory Optimization ◽  
Computationally Efficient ◽  
Numerical Tests ◽  
Planning Optimization ◽  
Path Constraints ◽  
Efficiency And Effectiveness ◽  
General Mathematical Model

Trajectory optimization is the series of actions that are taken into consideration in order to produce the best path such that it improves the overall performances of physical properties or reduces the consumption of the resources where the restriction system remains maintained. In this paper, first, a compact mathematical model for a symmetrical annular-shaped omnidirectional wheeled mobile robot (SAOWMR) is derived and verified. This general mathematical model provides an opportunity to conduct research, experiments, and comparisons on these omnidirectional mobile robots that have two, three, four, six, or even more omnidirectional wheels without the need to switch models or derive a new model. Then, a new computationally efficient method is proposed to achieve improvements in the trajectory planning optimization (TPO) for a SAOWMR. Moreover, the proposed method has been tested in collision-free navigation by incorporation of the path constraints. Numerical tests and simulations are presented aiming to ensure the efficiency and effectiveness of the proposed method.

scholarly journals Wheeled Mobile Robot Trajectory Planning Using Evolutionary Techniques

2020 ◽  
Vol 5 (3) ◽  
pp. 34-38
Author(s):  
S. Ramabalan ◽  
◽  
V. Sathiya ◽  
M. Chinnadurai ◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Trajectory Planning ◽  
Objective Functions ◽  
Nsga Ii ◽  
Differential Drive ◽  
Multi Objective ◽  
Moving Obstacles ◽  
Robot Trajectory ◽  
Planning Optimization ◽  
Simulation Results

This paper proposes two multi-objective trajectory planning optimization algorithms namely Multi-Objective Differential Evolution (MODE) and Elitist Non-dominated Sorting Genetic Algorithm (NSGA-II). They are applied for a differential drive wheels mobile robot (WMR). A cubic NURBS curve is used to constitute the mobile robot’s path. The objective functions considered are travel time, traveled length, and actuators' efforts. All objective functions are to be minimized. The constraints considered are the mobile robot’s kinematic limits, obstacle avoidance, and dynamic limits. Two Stationary and five moving obstacles are present around the robot. Experimental and numerical simulation results are examined and compared.

Design and Trajectory Planning Optimization of a Morphing Airfoil for 3-D Flight Maneuvers

2021 ◽  
Author(s):  
Eliot S. Rudnick-Cohen ◽  
Joshua D. Hodson ◽  
Gregory W. Reich ◽  
Alexander M. Pankonien ◽  
Philip S. Beran
Keyword(s):  
Trajectory Planning ◽  
Planning Optimization

scholarly journals Trajectory planning in UAV emergency networks with potential underlaying D2D communication based on K-means

2021 ◽  
Vol 2021 (1) ◽  
Author(s):  
Shuo Zhang ◽  
Shuo Shi ◽  
Tianming Feng ◽  
Xuemai Gu
Keyword(s):  
Trajectory Planning ◽  
Trajectory Optimization ◽  
Communication Systems ◽  
Complete Coverage ◽  
Wireless System ◽  
Fifth Generation ◽  
Emergency Communications ◽  
Trajectory Length ◽  
Post Disaster ◽  
Joint Evaluation

AbstractAt present, unmanned aerial vehicles (UAVs) have been widely used in communication systems, and the fifth-generation wireless system (5G) has further promoted the vigorous development of them. The trajectory planning of UAV is an important factor that affects the timeliness and completion of missions, especially in scenarios such as emergency communications and post-disaster rescue. In this paper, we consider an emergency communication network where a UAV aims to achieve complete coverage of potential underlaying device-to-device (D2D) users. Trajectory planning issues are grouped into clustering and supplementary phases for optimization. Aiming at trajectory length and sum throughput, two trajectory planning algorithms based on K-means are proposed, respectively. In addition, in order to balance sum throughput with trajectory length, we present a joint evaluation index. Then relying on this index, a third trajectory optimization algorithm is further proposed. Simulation results show the validity of the proposed algorithms which have advantages over the well-known benchmark scheme in terms of trajectory length and sum throughput.

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.

The Generation Principle and Mathematical Models of Double-Enveloping Internal Gear Pairs

2015 ◽  
Author(s):  
Xuan Li ◽  
Bingkui Chen ◽  
Yawen Wang ◽  
Guohua Sun ◽  
Teik C. Lim
Keyword(s):  
Mathematical Model ◽  
Load Capacity ◽  
Geometrical Shape ◽  
Gear Pair ◽  
Numerical Examples ◽  
Proposed Model ◽  
General Mathematical Model ◽  
Meshing Characteristics ◽  
Internal Gear ◽  
Tooth Pair

In this paper, the planar double-enveloping method is presented for the generation of tooth profiles of the internal gear pair for various applications, such as gerotors and gear reducers. The main characteristic of this method is the existence of double contact between one tooth pair such that the sealing property, the load capacity and the transmission precision can be significantly improved as compared to the conventional configuration by the single-enveloping theory. Firstly, the generation principle of the planar double-enveloping method is introduced. Based on the coordinate transformation and the envelope theory, the general mathematical model of the double-enveloping internal gear pair is presented. By using this model, users can directly design different geometrical shape profiles to obtain a double-enveloping internal gear pair with better meshing characteristics. Secondly, to validate the effectiveness of the proposed model, specific mathematical formulations of three double-enveloping internal gear pairs which apply circular, parabolic and elliptical curves as the generating curves are given. The equations of tooth profiles and meshing are derived and the composition of tooth profiles is analyzed. Finally, numerical examples are provided for an illustration.

Identification and Model Predictive Position Control of Two Wheeled Inverted Pendulum Mobile Robot

2015 ◽  
Vol 73 (6) ◽  
Author(s):  
Amir A. Bature ◽  
Salinda Buyamin ◽  
Mohamad N. Ahmad ◽  
Mustapha Muhammad ◽  
Auwalu A. Muhammad
Keyword(s):  
Mathematical Model ◽  
System Identification ◽  
Mobile Robot ◽  
Inverted Pendulum ◽  
Position Control ◽  
Superior Performance ◽  
System A ◽  
Wheeled Inverted Pendulum ◽  
Simulation Results ◽  
Real Plant

In order to predict and analyse the behaviour of a real system, a simulated model is needed. The more accurate the model the better the response is when dealing with the real plant. This paper presents a model predictive position control of a Two Wheeled Inverted Pendulum robot. The model was developed by system identification using a grey box technique. Simulation results show superior performance of the gains computed using the grey box model as compared to common linearized mathematical model. 

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