scholarly journals Motion Control and Velocity-Based Dynamic Compensation for Mobile Robots

2019 ◽  
Author(s):  
Felipe Nascimento Martins ◽  
Alexandre Santos Brandão
Keyword(s):  
Mobile Robots ◽  
Motion Control ◽  
Dynamic Compensation

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

Coordinate Motion Control of Multiple Autonomous Mobile Robots Based on Compliant Motion Control

1998 ◽  
pp. 141-150 ◽  
Author(s):  
Kazuhiro Kosuge ◽  
Tomohiro Oosumi ◽  
Hajime Asama ◽  
Teruo Fujii ◽  
Hayato Kaetsu
Keyword(s):  
Mobile Robots ◽  
Motion Control ◽  
Autonomous Mobile Robots ◽  
Compliant Motion

scholarly journals Energy Modeling and Experimental Validation of Four-Wheel Mecanum Mobile Robots for Energy-Optimal Motion Control

Symmetry ◽  
2019 ◽  
Vol 11 (11) ◽  
pp. 1372
Author(s):  
Liang Zhang ◽  
Jongwon Kim ◽  
Jie Sun
Keyword(s):  
Power Consumption ◽  
Mobile Robots ◽  
Motion Control ◽  
Prediction Accuracy ◽  
Experimental Validation ◽  
Control Method ◽  
Energy Modeling ◽  
Optimal Motion ◽  
Consumption Model ◽  
Mecanum Wheel

Four-wheel Mecanum mobile robots (FWMRs) are widely used in transportation because of their omnidirectional mobility. However, the FWMR trades off energy efficiency for flexibility. To efficiently predict the energy consumption of the robot movement processes, this paper proposes a power consumption model for the omnidirectional movement of an FWMR. A power consumption model is of great significance for reducing the power consumption, motion control, and path planning of robots. However, FWMRs are highly maneuverable, meaning their control is complicated and their energy modeling is extremely complex. The speed, distance, path, and power consumption of the robot can vary greatly depending on the control method. This energy model was mathematically implemented in MATLAB and validated by our laboratory’s Mecanum wheel robot. The prediction accuracy of the model was over 95% through simulation and experimental verification.

scholarly journals Flocking Control of Mobile Robots with Obstacle Avoidance Based on Simulated Annealing Algorithm

2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Jin Cheng ◽  
Bin Wang
Keyword(s):  
Simulated Annealing ◽  
Mobile Robots ◽  
Motion Control ◽  
Simulated Annealing Algorithm ◽  
Control Method ◽  
Sampling Period ◽  
Potential Functions ◽  
Control Law ◽  
Optimal Position ◽  
Annealing Algorithm

Flocking control problem of mobile robots under environment with unknown obstacles is addressed in this paper. Based on the simulated annealing algorithm, a flocking behaviour for mobile robots is achieved which converges to alignment while avoiding obstacles. Potential functions are designed to evaluate the positional relationship between robots and obstacles. Unlike the existing analytical method, simulated annealing algorithm is utilized to search the quasi-optimal position of robots in order to reduce the potential functions. Motion control law is designed to drive the robot move to the desired position at each sampling period. Experiments are implemented, and the results illustrate the effectiveness of the proposed flocking control method.

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