Numerical methods based controller design for mobile robots

Robotica ◽  
2009 ◽  
Vol 27 (2) ◽  
pp. 269-279 ◽  
Author(s):  
Gustavo Scaglia ◽  
Lucía Quintero Montoya ◽  
Vicente Mut ◽  
Fernando di Sciascio
Keyword(s):  
Numerical Methods ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Relative Position ◽  
Controller Design ◽  
Tracking Error ◽  
Kinematic Model ◽  
Experimental Results ◽  
Control Actions

SUMMARYThis paper presents the design of four controllers for a mobile robot such that the system may follow a preestablished trajectory. To reach this aim, the kinematic model of a mobile robot is approximated using numerical methods. Then, from such approximation, the control actions to get a minimal tracking error are calculated. Both simulation and experimental results on a PIONEER 2DX mobile robot are presented, showing a good performance of the four proposed mobile robot controllers. Also, an application of the proposed controllers to a leader robot following problem is shown; in it, the relative position between robots is obtained through a laser.

Localization of Mobile Robot Based on Least Square Method

2013 ◽  
Vol 347-350 ◽  
pp. 808-811
Author(s):  
Jia Lu Li ◽  
Lin Bing Long ◽  
Bao Feng Zhang
Keyword(s):  
Motion Estimation ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Least Squares ◽  
Least Square Method ◽  
Least Square ◽  
Experimental Results ◽  
Sift Algorithm ◽  
Key Techniques ◽  
Point Detection

Localization is the basis for navigation of mobile robots. This paper focuses on key techniques of localization for mobile robots based on vision. Firstly, the specific measures and steps of the algorithm are analyzed and researched in depth. In the study, SIFT algorithm combined with epipolar geometry constraint is used on the environment feature point detection, matching and tracking. And the method of RANSAC combined with the least squares is used to obtain accurate results of the motion estimation. Then the necessary experiments are carried out to verify the correctness and effectiveness of algorithms. The experimental results verified the accuracy of the improved algorithm.

Stabilization of a Four-Wheel Mobile Robot From Kinematic Model to Dynamic Model by Feedback Passivation of Cascades Using Chained Form

2009 ◽  
Author(s):  
Hossein Mohammadi ◽  
Arash Haghpanah ◽  
Mohammad Eghtesad
Keyword(s):  
Mobile Robot ◽  
System Dynamics ◽  
Mobile Robots ◽  
State Space ◽  
Dynamic Model ◽  
Kinematic Model ◽  
State Space Model ◽  
Space Model ◽  
Novel Approach

In this paper, a novel approach for dynamics based stabilization of a four-wheel mobile robot is presented. One of the well-known and well-established approaches for stabilization of mobile robots is converting the kinematic model of the robot to a chained form. In order to extend this method to dynamic based stabilization, kinematic and dynamic subsystems of the mobile robot state-space model can be considered as two subsystems of a cascade and then feedback passivation of cascades can be utilized for stabilization of the whole system dynamics.

scholarly journals Backstepping Based Trajectory Tracking Control of a Four Wheeled Mobile Robot

10.5772/6224 ◽  
2008 ◽  
Vol 5 (4) ◽  
pp. 38 ◽  
Author(s):  
Umesh Kumar ◽  
Nagarajan Sukavanam
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Controller Design ◽  
Kinematic Model ◽  
Wheeled Mobile Robot ◽  
Trajectory Tracking Control ◽  
Kinematic Equation ◽  
Pure Rolling ◽  
Tracking Strategy

For a four wheeled mobile robot a trajectory tracking concept is developed based on its kinematics. A trajectory is a time–indexed path in the plane consisting of position and orientation. The mobile robot is modeled as a non holonomic system subject to pure rolling, no slip constraints. To facilitate the controller design the kinematic equation can be converted into chained form using some change of co-ordinates. From the kinematic model of the robot a backstepping based tracking controller is derived. Simulation results demonstrate such trajectory tracking strategy for the kinematics indeed gives rise to an effective methodology to follow the desired trajectory asymptotically.

scholarly journals Design Interval Type-2 Fuzzy Like (PID) Controller for Trajectory Tracking of Mobile Robot

2019 ◽  
pp. 1-15
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Pid Controller ◽  
Kinematic Model ◽  
Superior Performance ◽  
Fuzzy Like ◽  
Interval Type

One of the major problems in the field of mobile robots is the trajectory tracking problem. There are a big number of investigations for different control strategies that have been used to control the motion of the mobile robot when the nonlinear kinematic model of mobile robots was considered. The trajectory tracking control of autonomous wheeled mobile robot in a changing unstructured environment needs to take into account different types of uncertainties. Type-1 fuzzy logic sets present limitations in handling those uncertainties while type-2 fuzzy logic sets can manage these uncertainties to give a superior performance. This paper focuses on the design of interval type-2 fuzzy like proportional-integral-derivative (PID) controller for the kinematic model of mobile robot. The firefly optimization algorithm has been used to find the best values of controller’s parameters. The aim of this controller is trying to force the mobile robot tracking a pre-defined continuous path with minimum tracking error. The Matlab simulation results demonstrate the good performance and robustness of this controller. These were confirmed by the obtained values of the position tracking errors and a very smooth velocity, especially with regards to the presence of external disturbance or change in the initial position of mobile robot. Finally, in comparison with other proposed controllers, the results of nonlinear IT2FLC PID controller outperform the nonlinear PID neural controller in minimizing the MSE for all control variables and in the robustness measure.

scholarly journals LINEAR ALGEBRA AND OPTIMIZATION BASED CONTROLLER DESIGN FOR TRAJECTORY TRACKING OF TYPICAL CHEMICAL PROCESS

2014 ◽  
Vol 44 (4) ◽  
pp. 313-318
Author(s):  
M. E. SERRANO ◽  
G. J. E. SCAGLIA ◽  
P. ABALLAY ◽  
O. A. ORTIZ ◽  
V. MUT
Keyword(s):  
Chemical Process ◽  
Controller Design ◽  
Linear Equations ◽  
Tracking Error ◽  
Optimal Operation ◽  
System Of Linear Equations ◽  
Plant Model ◽  
Control Actions ◽  
Simulation Results ◽  
Tracking Trajectory

This paper presents a new controller design to tracking trajectory of a typical chemical process. The plant model is represented by numerical methods and, from this approach; the control actions for an optimal operation of the system are obtained. Its main advantage is that the condition for the tracking error tends to zero and the calculation of control actions, are obtained solving a system of linear equations. The proofs of convergence to zero of the tracking error are presented. Simulation results show the good performance of the proposed control system.

scholarly journals Furniture Model Creation Through Direct Teaching to a Mobile Robot

2008 ◽  
Vol 20 (2) ◽  
pp. 213-220 ◽  
Author(s):  
Kimitoshi Yamazaki ◽  
◽  
Takashi Tsubouchi ◽  
Masahiro Tomono ◽  
◽  
...  
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Real Life ◽  
Experimental Results ◽  
Sensor Data ◽  
Small Object ◽  
Laser Range Finder ◽  
Range Finder ◽  
Laser Range ◽  
Direct Teaching

In this paper, a modeling method to handle furniture is proposed. Real-life environments are crowded with objects such as drawers and cabinets that, while easily dealt with by people, present mobile robots with problems. While it is to be hoped that robots will assist in multiple daily tasks such as putting objects in into drawers, the major problems lies in providing robots with knowledge about the environment efficiently and, if possible, autonomously.If mobile robots can handle these furniture autonomously, it is expected that multiple daily jobs, for example, storing a small object in a drawer, can be performed by the robots. However, it is a perplexing process to give several pieces of knowledge about the furniture to the robots manually. In our approach, by utilizing sensor data from a camera and a laser range finder which are combined with direct teaching, a handling model can be created not only how to handle the furniture but also an appearance and 3D shape. Experimental results show the effectiveness of our methods.

Trajectory-tracking controller design with constraints in the control signals: a case study in mobile robots

Robotica ◽  
2014 ◽  
Vol 33 (10) ◽  
pp. 2186-2203 ◽  
Author(s):  
Mario Emanuel Serrano ◽  
Gustavo Juan Eduardo Scaglia ◽  
Fernando Auat Cheein ◽  
Vicente Mut ◽  
Oscar Alberto Ortiz
Keyword(s):  
Mobile Robots ◽  
Laboratory Experiments ◽  
Controller Design ◽  
Design Parameters ◽  
Tracking Errors ◽  
Real World Application ◽  
Control Actions ◽  
Control Signals ◽  
Trajectory Tracking Controller

SUMMARYThis paper is a continuation of a previous work of authors, Scagliaet al. [G. J. E. Scaglia, L. M. Quintero, V. Mut and F. Di Sciascio, “Numerical methods based controller design for mobile robots,”Robotica27(2), 269–279 (2009)]. A method is presented to choose the controller parameters such that, the values of the control actions do not exceed the maximum allowable and the tracking errors tend to zero. In addition, the analysis of the controller design parameters is included. The experimental results (laboratory experiments and a real world application) demonstrate the efficiency of the controller.

Tracking and Regulation Control of a Mobile Robot System With Kinematic Disturbances: A Variable Structure-Like Approach

2000 ◽  
Vol 122 (4) ◽  
pp. 616-623 ◽  
Author(s):  
W. E. Dixon ◽  
D. M. Dawson ◽  
E. Zergeroglu
Keyword(s):  
Mobile Robot ◽  
Model Simulation ◽  
Tracking Error ◽  
Kinematic Model ◽  
Parametric Uncertainty ◽  
Variable Structure ◽  
Tracking Errors ◽  
Robot System ◽  
Tracking Controller ◽  
Bounded Disturbances

This paper presents the design of a variable structure-like tracking controller for a mobile robot system. The controller provides robustness with regard to bounded disturbances in the kinematic model. Through the use of a dynamic oscillator and a Lyapunov-based stability analysis, we demonstrate that the position and orientation tracking errors exponentially converge to a neighborhood about zero that can be made arbitrarily small (i.e., the controller ensures that the tracking error is globally uniformly ultimately bounded (GUUB)). In addition, we illustrate how the proposed tracking controller can also be utilized to achieve GUUB regulation to an arbitrary desired setpoint. An extension is also provided that illustrates how a smooth, time-varying control law can be utilized to achieve setpoint regulation despite parametric uncertainty in the kinematic model. Simulation results are presented to demonstrate the performance of the proposed controllers. [S0022-0434(00)00504-9]

Virtual Reality based Mobile Robot Navigation in Greenhouse Environment

2017 ◽  
Vol 8 (2) ◽  
pp. 854-859
Author(s):  
M. Saiful Azimi ◽  
Z. A. Shukri ◽  
M. Zaharuddin
Keyword(s):  
Virtual Reality ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Virtual Environment ◽  
Robot Navigation ◽  
Tracking Error ◽  
Mobile Robot Navigation ◽  
Probabilistic Roadmap ◽  
Time Distance ◽  
Simulation Results

The difficulties of transporting heavy mobile robots limit robotic experiments in agriculture. Virtual reality however, offers an alternative to conduct experiments in agriculture. This paper presents an application of virtual reality in a robot navigational experiment using SolidWorks and simulated into MATLAB. Trajectories were initiated using Probabilistic Roadmap and compared based on travel time, distance and tracking error, and the efficiency was calculated. The simulation results showed that the proposed method was able to conduct the navigational experiment inside the virtual environment. U-turn trajectory was chosen as the best trajectory for crop inspection with 82.7% efficiency.

scholarly journals Hexagonal Grid-Based Framework for Mobile Robot Navigation

2021 ◽  
Vol 13 (21) ◽  
pp. 4216
Author(s):  
Piotr Duszak ◽  
Barbara Siemiątkowska ◽  
Rafał Więckowski
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Robot Navigation ◽  
Hexagonal Lattice ◽  
Planning Method ◽  
Experimental Results ◽  
Mobile Robot Navigation ◽  
Rectangular Grid ◽  
Grid Based

The paper addresses the problem of mobile robots’ navigation using a hexagonal lattice. We carried out experiments in which we used a vehicle equipped with a set of sensors. Based on the data, a traversable map was created. The experimental results proved that hexagonal maps of an environment can be easily built based on sensor readings. The path planning method has many advantages: the situation in which obstacles surround the position of the robot or the target is easily detected, and we can influence the properties of the path, e.g., the distance from obstacles or the type of surface can be taken into account. A path can be smoothed more easily than with a rectangular grid.

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