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Download or read book Generic Dynamic Modelling and Model-based Trajectory Tracking Control of Wheeled Mobile Robots (WMRs). written by and published by . This book was released on 1997 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Nardênio Almeida Martins
Publisher : Springer Nature
ISBN 13 : 3030779122
Total Pages : 209 pages
Book Rating : 4.0/5 (37 download)
Download or read book Wheeled Mobile Robot Control written by Nardênio Almeida Martins and published by Springer Nature. This book was released on 2021-08-12 with total page 209 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the development and methodologies of trajectory control of differential-drive wheeled nonholonomic mobile robots. The methodologies are based on kinematic models (posture and configuration) and dynamic models, both subject to uncertainties and/or disturbances. The control designs are developed in rectangular coordinates obtained from the first-order sliding mode control in combination with the use of soft computing techniques, such as fuzzy logic and artificial neural networks. Control laws, as well as online learning and adaptation laws, are obtained using the stability analysis for both the developed kinematic and dynamic controllers, based on Lyapunov’s stability theory. An extension to the formation control with multiple differential-drive wheeled nonholonomic mobile robots in trajectory tracking tasks is also provided. Results of simulations and experiments are presented to verify the effectiveness of the proposed control strategies for trajectory tracking situations, considering the parameters of an industrial and a research differential-drive wheeled nonholonomic mobile robot, the PowerBot. Supplementary materials such as source codes and scripts for simulation and visualization of results are made available with the book.
Author : Spyros G Tzafestas
Publisher : Elsevier
ISBN 13 : 0124171036
Total Pages : 718 pages
Book Rating : 4.1/5 (241 download)
Download or read book Introduction to Mobile Robot Control written by Spyros G Tzafestas and published by Elsevier. This book was released on 2013-10-03 with total page 718 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background
Author : Gregor Klancar
Publisher : Butterworth-Heinemann
ISBN 13 : 0128042389
Total Pages : 504 pages
Book Rating : 4.1/5 (28 download)
Download or read book Wheeled Mobile Robotics written by Gregor Klancar and published by Butterworth-Heinemann. This book was released on 2017-02-02 with total page 504 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wheeled Mobile Robotics: From Fundamentals Towards Autonomous Systemscovers the main topics from the wide area of mobile robotics, explaining all applied theory and application. The book gives the reader a good foundation, enabling them to continue to more advanced topics. Several examples are included for better understanding, many of them accompanied by short MATLAB® script code making it easy to reuse in practical work. The book includes several examples of discussed methods and projects for wheeled mobile robots and some advanced methods for their control and localization. It is an ideal resource for those seeking an understanding of robotics, mechanics, and control, and for engineers and researchers in industrial and other specialized research institutions in the field of wheeled mobile robotics. Beginners with basic math knowledge will benefit from the examples, and engineers with an understanding of basic system theory and control will find it easy to follow the more demanding fundamental parts and advanced methods explained. Offers comprehensive coverage of the essentials of the field that are suitable for both academics and practitioners Includes several examples of the application of algorithms in simulations and real laboratory projects Presents foundation in mobile robotics theory before continuing with more advanced topics Self-sufficient to beginner readers, covering all important topics in the mobile robotics field Contains specific topics on modeling, control, sensing, path planning, localization, design architectures, and multi-agent systems
Author : Haris Chowdhry
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (755 download)
Download or read book Model Predictive Control of Wheeled Mobile Robots written by Haris Chowdhry and published by . This book was released on 2010 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The control of nonholonomic wheeled mobile robots (WMRs) has gained a lot of attention in the field of robotics over the past few decades as WMRs provide an increased range of motion resulting in a larger workspace. This research focuses on the application of Model Predictive Control (MPC) for real-time trajectory tracking of a nonholonomic WMR. MPC is a control strategy in which the control law is designed based on optimizing a cost function. The input and output constraints that may arise in practical situations can be directly incorporated into the control system using MPC. Computation time is the biggest hurdle in adapting MPC strategies for trajectory tracking. This research applies a non-feasible active set MPC algorithm developed in [1] which is faster than the traditional active set methods (ASMs). A discrete-time linear model of a general WMR is used for the simulation. MATLAB simulations are performed for tracking circular as well as square trajectories using the discretized WMR model and the non-feasible ASM (NF-ASM). The performance of NF-ASM is compared to two other well-known traditional algorithms, i.e. Fletcher?s ASM and MATLAB?s Quadratic Programming algorithm. It is shown that, although all these algorithms are capable of providing satisfactory trajectory tracking performance, NF-ASM is a better choice in terms of the simulation time and required number of iterations for realtime trajectory tracking of any type as long as the constraints on the inputs stay active for a long period during the simulation.
Author : Jens Kroneis
Publisher : Logos Verlag Berlin
ISBN 13 : 9783832529192
Total Pages : 0 pages
Book Rating : 4.5/5 (291 download)
Download or read book Model-based Trajectory Tracking Control of a Planar Parallel Robot with Redundancies written by Jens Kroneis and published by Logos Verlag Berlin. This book was released on 2011 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In industrial practice parallel kinematic structures start to replace serial ones, in case of time-sensitive, highly dynamical applications or processes requiring a high structural rigidity of the robots. But the high complexity of their dynamic models is still the biggest impediment for the realization of model based trajectory tracking control strategies.In this thesis a holistic concept for the model-based trajectory tracking control of a special class of parallel robots - containing functional or structural redundancies (complex parallel robots) - is introduced. Since for these robots - due to the high complexity of their dynamic models - sophisticated model-based strategies for trajectory tracking control cannot be directly applied, a new concept is necessary. It mainly bases upon the derivation of real-time implementable compact dynamic models for the studied class of robots. But compact dynamic models are only a first step on the way to a model-based trajectory tracking control with high path accuracy and a low traveling time. Additionally, appropriate designed trajectories are required. For planning them a new strategy has been developed and successfully applied.The holistic approach covering also aspects like parameter identification and velocity estimation has been successfully demonstrated at a planar parallel robot including experimental results.
Author : Haris Chowdhry
Publisher : LAP Lambert Academic Publishing
ISBN 13 : 9783659132049
Total Pages : 104 pages
Book Rating : 4.1/5 (32 download)
Download or read book Model Predictive Control of Wheeled Mobile Robots written by Haris Chowdhry and published by LAP Lambert Academic Publishing. This book was released on 2012-05 with total page 104 pages. Available in PDF, EPUB and Kindle. Book excerpt: Different control techniques can be used to perform trajectory tracking of nonholonomic Wheeled Mobile Robots (WMRs). The application of Model Predictive Control (MPC) for trajectory tracking of WMRs allows for an easy incorporation of input and output constraints that may arise in practical situations. Also, the control effort required to solve the trajectory tracking problem can be minimized in a straightforward manner using the built-in optimization methods in MPC. Computation time is the biggest hurdle in adapting MPC strategies for trajectory tracking. This research applies a non-feasible active set MPC algorithm that is much faster than the conventional active set methods. Traditionally, non-feasible active set method is used in plant control where the system is time-invariant. The novelty of this work lies in the application of non-feasible active set method to time-varying models of Wheeled Mobile Robots. A comparative study is conducted on feasible and non-feasible active set methods using various reference trajectories.
Author : Mohammed Kamil Hilfi
Publisher :
ISBN 13 :
Total Pages : 174 pages
Book Rating : 4.:/5 (93 download)
Download or read book Mobile Robot-dynamic Model Controlling Using Wavelet Network written by Mohammed Kamil Hilfi and published by . This book was released on 2014 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Héctor . M Becerra
Publisher : Springer
ISBN 13 : 3319057839
Total Pages : 127 pages
Book Rating : 4.3/5 (19 download)
Download or read book Visual Control of Wheeled Mobile Robots written by Héctor . M Becerra and published by Springer. This book was released on 2014-03-26 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: Vision-based control of wheeled mobile robots is an interesting field of research from a scientific and even social point of view due to its potential applicability. This book presents a formal treatment of some aspects of control theory applied to the problem of vision-based pose regulation of wheeled mobile robots. In this problem, the robot has to reach a desired position and orientation, which are specified by a target image. It is faced in such a way that vision and control are unified to achieve stability of the closed loop, a large region of convergence, without local minima and good robustness against parametric uncertainty. Three different control schemes that rely on monocular vision as unique sensor are presented and evaluated experimentally. A common benefit of these approaches is that they are valid for imaging systems obeying approximately a central projection model, e.g., conventional cameras, catadioptric systems and some fisheye cameras. Thus, the presented control schemes are generic approaches. A minimum set of visual measurements, integrated in adequate task functions, are taken from a geometric constraint imposed between corresponding image features. Particularly, the epipolar geometry and the trifocal tensor are exploited since they can be used for generic scenes. A detailed experimental evaluation is presented for each control scheme.
Author : Mario Sarcinelli-Filho
Publisher : Springer Nature
ISBN 13 : 3031230884
Total Pages : 157 pages
Book Rating : 4.0/5 (312 download)
Download or read book Control of Ground and Aerial Robots written by Mario Sarcinelli-Filho and published by Springer Nature. This book was released on 2023-01-19 with total page 157 pages. Available in PDF, EPUB and Kindle. Book excerpt: The focus of this book is kinematic and dynamic control of a single mobile robot or a group of them. New simple and integrated solutions are presented for tasks of positioning, trajectory tracking and path following. Control of Ground and Aerial Robots synthesizes new results on control of mobile robots developed by M.Sc. and Ph.D. students supervised by the authors. The robots considered are wheeled mobile platforms, with emphasis on differential drive vehicles, and the multirotor aerial robots. Integrated control solutions based on the technique of feedback linearization are proposed to guide either a single robot or a homogeneous/heterogeneous group of mobile robots. Examples on the use of the proposed controllers are also provided. Finally, Control of Ground and Aerial Robots is intended to help graduate and advanced undergraduate students in engineering, as well as researchers in the area of robot control, to design controllers to autonomously guide the more common mobile platforms.
Author : Lin Ke Wang
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (11 download)
Download or read book Theory and Experimental Investigation of Tracking Control of Wheeled Mobile Robots written by Lin Ke Wang and published by . This book was released on 2002 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: A variety of theoretical and tracking control problems have been studied for various classes of nonholonomic wheeled mobile robot (WMR). The relative difficulty of the tracking control problem depends not only on nature structural properties of the nonholonomic WMR system but also on the tracking control objective. In this thesis several structural properties regarding controllability, stabilizability and nonholonomy of the kinematic state models of WMRs have been given, taking into account the restriction to robot mobility induced by the constraints. By using the concepts of degree of mobility and degree of steerability, this study provides a general and unifying presentation of the modeling issue of WMRs. For particular prototypes of WMRs, the posture kinematic models for WMRs are available in the literature. However, in this thesis, a more general viewpoint is adopted for the consideration of a general class of WMRs with an arbitrary number of wheels of different types. Three-wheel mobile robot-Nomad 200 used in the experiment is described in details. The control objective in this investigation is to determine a control law so that the robot can track a desired trajectory. Two control algorithms are therefore presented. The first control algorithm is using a "virtual vehicle approach", which is shown to be robust with respect to error and disturbances; the second one is a time-varying adaptive control algorithm developed for a general class of nonholonomic mechanical system, which guarantees the global stability of the closed-loop system. Simulation results with SIMULINK software and Nomad simulator confirmed the validity of the proposed algorithms, and the implementation of the both algorithms on a nonholonomic WMR, Nomad 200 platform, clearly, verify that proposed tracking control algorithms can achieve the control objective in a stable and robust way.
Author : Ahmad Taher Azar
Publisher : Springer Nature
ISBN 13 : 3031265645
Total Pages : 670 pages
Book Rating : 4.0/5 (312 download)
Download or read book Mobile Robot: Motion Control and Path Planning written by Ahmad Taher Azar and published by Springer Nature. This book was released on 2023-06-30 with total page 670 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the recent research advances in linear and nonlinear control techniques. From both a theoretical and practical standpoint, motion planning and related control challenges are key parts of robotics. Indeed, the literature on the planning of geometric paths and the generation of time-based trajectories, while accounting for the compatibility of such paths and trajectories with the kinematic and dynamic constraints of a manipulator or a mobile vehicle, is extensive and rich in historical references. Path planning is vital and critical for many different types of robotics, including autonomous vehicles, multiple robots, and robot arms. In the case of multiple robot route planning, it is critical to produce a safe path that avoids colliding with objects or other robots. When designing a safe path for an aerial or underwater robot, the 3D environment must be considered. As the number of degrees of freedom on a robot arm increases, so does the difficulty of path planning. As a result, safe pathways for high-dimensional systems must be developed in a timely manner. Nonetheless, modern robotic applications, particularly those requiring one or more robots to operate in a dynamic environment (e.g., human–robot collaboration and physical interaction, surveillance, or exploration of unknown spaces with mobile agents, etc.), pose new and exciting challenges to researchers and practitioners. For instance, planning a robot's motion in a dynamic environment necessitates the real-time and online execution of difficult computational operations. The development of efficient solutions for such real-time computations, which could be offered by specially designed computational architectures, optimized algorithms, and other unique contributions, is thus a critical step in the advancement of present and future-oriented robotics.
Author : Warren E. Dixon
Publisher :
ISBN 13 :
Total Pages : 224 pages
Book Rating : 4.3/5 (91 download)
Download or read book Nonlinear Control of Wheeled Mobile Robots written by Warren E. Dixon and published by . This book was released on 2001-01-29 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book examines the control problem for wheeled mobile robots. Several novel control strategies are developed and the stability of each controller is examined utilizing Lyapunov techniques. The performance of each controller is either illustrated through simulation results or experimental results. The final chapter describes how the control techniques developed for wheeled mobile robots can be applied to solve other problems with similar governing differential equations (e.g., twin rotor helicopters, surface vessels). Several appendices are included to provide the reader with the mathematical background utilized in the control development and stability analysis. Two appendices are also included that provide specific details with regard to the modifications that were done to commercially available mobile robots (e.g., a K2A manufactured by Cybermotion Inc. and a Pioneer II manufactured by Activemedia) to experimentally demonstrate the performance of the torque input controllers.
Author : Ramón González
Publisher : Springer Science & Business Media
ISBN 13 : 3319060384
Total Pages : 122 pages
Book Rating : 4.3/5 (19 download)
Download or read book Autonomous Tracked Robots in Planar Off-Road Conditions written by Ramón González and published by Springer Science & Business Media. This book was released on 2014-03-22 with total page 122 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph is framed within the context of off-road mobile robotics. In particular, it discusses issues related to modelling, localization, and motion control of tracked mobile robots working in planar slippery conditions. Tracked locomotion constitutes a well-known solution for mobile platforms operating over diverse challenging terrains, for that reason, tracked robotics constitutes an important research field with many applications (e.g. agriculture, mining, search and rescue operations, military activities). The specific topics of this monograph are: historical perspective of tracked vehicles and tracked robots; trajectory-tracking model taking into account slip effect; visual-odometry-based localization strategies; and advanced slip-compensation motion controllers ensuring efficient real-time execution. Physical experiments with a real tracked robot are presented showing the better performance of the suggested novel approaches to known techniques. Keywords: longitudinal slip, visual odometry, slip-compensation control, robust predictive control, trajectory tracking. Related subjects: Robotics – Mechanical Engineering – Mechanics – Computer Science – Artificial Intelligence - Applications
Author : Yangsheng Xu
Publisher : Springer Tracts in Advanced Robotics
ISBN 13 :
Total Pages : 224 pages
Book Rating : 4.3/5 (91 download)
Download or read book Control of Single Wheel Robots written by Yangsheng Xu and published by Springer Tracts in Advanced Robotics. This book was released on 2005-09-30 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph presents a novel concept of a mobile robot, which is a single-wheel, gyroscopically stabilized robot. The robot is balanced by a spinning wheel attached through a two-link manipulator at the wheel bearing, and actuated by a drive motor. This configuration conveys significant advantages including insensitivity to attitude disturbances, high maneuverability, low rolling resistance, ability to recover from falls, and amphibious capability for potential applications on both land and water. This book focuses on the dynamics and control aspects, including modeling, model-based control, learning-based control, and shared control with human operators. This novel mobile robot concept opens up the science of dynamically stable systems with a single wheel configuration. The book also presents considerations in concept, design implementations, and kinematics modeling, as well as experimental results from various algorithms and cases. The system is a nonholonomic, underactuated, and highly nonlinear system, so this book is appropriate for scientists and engineers with interests in mobile robot, dynamics and control, as a research reference and postgraduate textbook.
Author : M. Velasco-Villa
Publisher :
ISBN 13 : 9789533070704
Total Pages : pages
Book Rating : 4.0/5 (77 download)
Download or read book Dynamic Trajectory-Tracking Control of an Omnidirectional Mobile Robot Based on a Passive Approach written by M. Velasco-Villa and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The trajectory-tracking problem for the omnidirectional mobile robot considering its dynamic model has been addressed and solved by means of a full state information time varying feedback based on a methodology that exploits the passivity properties of the exact tracking error dynamics. The asymptotic stability of the closed loop system is formally proved. Numerical simulations are proposed to illustrate the properties of the closed-loop system showing a better performance than the control obtained by the well known Computed-Torque approach.
Author : M. Velasco-Villa
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (115 download)
Download or read book Dynamic Trajectory-Tracking Control of an Omnidirectional Mobile Robot Based on a Passive Approach written by M. Velasco-Villa and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Dynamic Trajectory-Tracking Control of an Omnidirectional Mobile Robot Based on a Passive Approach.
