Theory and Experimental Investigation of Tracking Control of Wheeled Mobile Robots

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ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (11 download)

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Book Synopsis Theory and Experimental Investigation of Tracking Control of Wheeled Mobile Robots by : Lin Ke Wang

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.

Wheeled Mobile Robot Control

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Publisher : Springer Nature
ISBN 13 : 3030779122
Total Pages : 209 pages
Book Rating : 4.0/5 (37 download)

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Book Synopsis Wheeled Mobile Robot Control by : Nardênio Almeida Martins

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.

Visual Control of Wheeled Mobile Robots

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Publisher : Springer
ISBN 13 : 3319057839
Total Pages : 127 pages
Book Rating : 4.3/5 (19 download)

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Book Synopsis Visual Control of Wheeled Mobile Robots by : Héctor . M Becerra

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.

Generic Dynamic Modelling and Model-based Trajectory Tracking Control of Wheeled Mobile Robots (WMRs).

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ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (654 download)

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Book Synopsis Generic Dynamic Modelling and Model-based Trajectory Tracking Control of Wheeled Mobile Robots (WMRs). by :

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:

Introduction to Mobile Robot Control

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Publisher : Elsevier
ISBN 13 : 0124171036
Total Pages : 718 pages
Book Rating : 4.1/5 (241 download)

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Book Synopsis Introduction to Mobile Robot Control by : Spyros G Tzafestas

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

Wheeled Mobile Robotics

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Publisher : Butterworth-Heinemann
ISBN 13 : 0128042389
Total Pages : 504 pages
Book Rating : 4.1/5 (28 download)

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Book Synopsis Wheeled Mobile Robotics by : Gregor Klancar

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

Nonlinear Control of Wheeled Mobile Robots

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Publisher :
ISBN 13 :
Total Pages : 224 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Nonlinear Control of Wheeled Mobile Robots by : Warren E. Dixon

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.

Nonlinear Control of Wheeled Mobile Robots

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Publisher : Springer
ISBN 13 : 9781447139607
Total Pages : 198 pages
Book Rating : 4.1/5 (396 download)

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Book Synopsis Nonlinear Control of Wheeled Mobile Robots by : Warren E. Dixon

Download or read book Nonlinear Control of Wheeled Mobile Robots written by Warren E. Dixon and published by Springer. This book was released on 2014-03-12 with total page 198 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.

The Second IEEE Conference on Control Applications

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ISBN 13 :
Total Pages : 602 pages
Book Rating : 4.E/5 ( download)

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Book Synopsis The Second IEEE Conference on Control Applications by :

Download or read book The Second IEEE Conference on Control Applications written by and published by . This book was released on 1993 with total page 602 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Vision-Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type-2 Fuzzy Logic

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Publisher : Springer Nature
ISBN 13 : 3030692477
Total Pages : 143 pages
Book Rating : 4.0/5 (36 download)

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Book Synopsis Vision-Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type-2 Fuzzy Logic by : Mahmut Dirik

Download or read book Vision-Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type-2 Fuzzy Logic written by Mahmut Dirik and published by Springer Nature. This book was released on 2021-03-01 with total page 143 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book includes topics, such as: path planning, avoiding obstacles, following the path, go-to-goal control, localization, and visual-based motion control. The theoretical concepts are illustrated with a developed control architecture with soft computing and artificial intelligence methods. The proposed vision-based motion control strategy involves three stages. The first stage consists of the overhead camera calibration and the configuration of the working environment. The second stage consists of a path planning strategy using several traditional path planning algorithms and proposed planning algorithm. The third stage consists of the path tracking process using previously developed Gauss and Decision Tree control approaches and the proposed Type-1 and Type-2 controllers. Two kinematic structures are utilized to acquire the input values of controllers. These are Triangle Shape-Based Controller Design, which was previously developed and Distance-Based Triangle Structure that is used for the first time in conducted experiments. Four different control algorithms, Type-1 fuzzy logic, Type-2 Fuzzy Logic, Decision Tree Control, and Gaussian Control have been used in overall system design. The developed system includes several modules that simplify characterizing the motion control of the robot and ensure that it maintains a safe distance without colliding with any obstacles on the way to the target. The topics of the book are extremely relevant in many areas of research, as well as in education in courses in computer science, electrical and mechanical engineering and in mathematics at the graduate and undergraduate levels.

Master's Theses Directories

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Publisher :
ISBN 13 :
Total Pages : 412 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Master's Theses Directories by :

Download or read book Master's Theses Directories written by and published by . This book was released on 2002 with total page 412 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Education, arts and social sciences, natural and technical sciences in the United States and Canada".

Investigation of Trajectory Tracking Control Algorithm for Autonomous Mobile Platforms

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ISBN 13 :
Total Pages : 162 pages
Book Rating : 4.:/5 (126 download)

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Book Synopsis Investigation of Trajectory Tracking Control Algorithm for Autonomous Mobile Platforms by : Swee Leong Tan

Download or read book Investigation of Trajectory Tracking Control Algorithm for Autonomous Mobile Platforms written by Swee Leong Tan and published by . This book was released on 2005 with total page 162 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Integrated Planning and Control of Mobile Manipulators and Robots Using Differential Flatness

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ISBN 13 : 9781109393118
Total Pages : pages
Book Rating : 4.3/5 (931 download)

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Book Synopsis Integrated Planning and Control of Mobile Manipulators and Robots Using Differential Flatness by : Ji Chul Ryu

Download or read book Integrated Planning and Control of Mobile Manipulators and Robots Using Differential Flatness written by Ji Chul Ryu and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: An integrated methodology for trajectory planning and tracking control has been a key need in the research of mobile robots that have a wide range of applications. Problems of planning and control can be considerably simplified if the system can be shown to have the differential flatness property. This thesis discusses how differential flatness theory can be used for planning and control of various types of mobile robots as an integrated framework. Three common types of mobile robots are proven to be differentially flat, and the property is used for planning and control for their kinematic and dynamic models. The mobile robots can have more practical applications if a manipulator arm is mounted on them. While mobile manipulators are usually designed with a fully actuated arm, under-actuation can be a viable solution to reduce the manufacturing and operating costs. Despite the under-actuation, which makes the system more difficult to plan and control, using the differential flatness theory, mobile manipulators can be designed to be capable of executing point-to-point maneuvers as a mobile manipulator with a fully actuated arm would do. The differential flatness property is achieved by inertia redistribution, with addition of torsional springs at un-actuated joints, and a wide range of designs is possible. Using this design methodology, either a two-wheeled differentially driven mobile robot or a car-like mobile robot can be used as the mobile base and the under-actuated manipulator arm can be mounted either horizontally or vertically on the mobile base. The structure of the differential flatness framework for integrated trajectory planning and control is extended to account for slip disturbances within the model. A feasible desired trajectory and the nominal control were determined for the model with slip, then a corrective control was added based on Lyapunov theory to overcome the disturbances due to the slip. The robust trajectory-tracking controller was developed based on the system's dynamic model as well as its kinematic model in the presence of slip. The simulation and experimental results validate the effectiveness of the proposed methodology and show that differential flatness presents a valuable and effective framework for integrated planning and control of mobile robots.

Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers

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Publisher : Springer
ISBN 13 : 3319318985
Total Pages : 413 pages
Book Rating : 4.3/5 (193 download)

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Book Synopsis Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers by : Joaquim Filipe

Download or read book Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers written by Joaquim Filipe and published by Springer. This book was released on 2016-05-14 with total page 413 pages. Available in PDF, EPUB and Kindle. Book excerpt: The present book includes a set of selected extended papers from the 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2015), held in Colmar, France, from 21 to 23 July 2015. The conference brought together researchers, engineers and practitioners interested in the application of informatics to Control, Automation and Robotics. Four simultaneous tracks will be held, covering Intelligent Control Systems, Optimization, Robotics, Automation, Signal Processing, Sensors, Systems Modelling and Control, and Industrial Engineering, Production and Management. Informatics applications are pervasive in many areas of Control, Automation and Robotics. ICINCO 2015 received 214 submissions, from 42 countries, in all continents. After a double blind paper review performed by the Program Committee, 14% were accepted as full papers and thus selected for oral presentation. Additional papers were accepted as short papers and posters. A further selection was made after the Conference, based also on the assessment of presentation quality and audience interest, so that this book includes the extended and revised versions of the very best papers of ICINCO 2015. Commitment to high quality standards is a major concern of ICINCO that will be maintained in the next editions, considering not only the stringent paper acceptance ratios but also the quality of the program committee, keynote lectures, participation level and logistics.

AETA 2022—Recent Advances in Electrical Engineering and Related Sciences: Theory and Application

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Publisher : Springer Nature
ISBN 13 : 9819987032
Total Pages : 738 pages
Book Rating : 4.8/5 (199 download)

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Book Synopsis AETA 2022—Recent Advances in Electrical Engineering and Related Sciences: Theory and Application by : Tran Trong Dao

Download or read book AETA 2022—Recent Advances in Electrical Engineering and Related Sciences: Theory and Application written by Tran Trong Dao and published by Springer Nature. This book was released on with total page 738 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Smooth Control Path Planning and Tracking of an Autonomous Mobile Robot in Real-time

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Publisher :
ISBN 13 :
Total Pages : 132 pages
Book Rating : 4.:/5 (934 download)

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Book Synopsis Smooth Control Path Planning and Tracking of an Autonomous Mobile Robot in Real-time by :

Download or read book Smooth Control Path Planning and Tracking of an Autonomous Mobile Robot in Real-time written by and published by . This book was released on 2015 with total page 132 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, a smooth control path planning and tracking scheme is validated through the use of an autonomous mobile robot in a real environment. Lyapunov stability method is applied to differential drive mobile robot kinematics. next, there is a simulation to verify expected robotic navigation performance. A physical experiment was then designed and carried out for validation. The experimental environment consists of a system of computer vision, embedded controller, and mobile robot. The required experimental outcome achieved relies on the position and orientation data obtained from a top-view camera. The camera used is a Microsoft XBOX 360 Kinect, the embedded controller is the Arduino processor, and the mobile robot is a combination of the body of the Parallax Robotics Shield Kit (for Arduino) and the rubber wheels of another mobile robot for a better grip. Details of research and real environment results are presented in this document.

Trajectory Tracking Control of Two Wheels Mobile Robot

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ISBN 13 :
Total Pages : 58 pages
Book Rating : 4.:/5 (953 download)

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Book Synopsis Trajectory Tracking Control of Two Wheels Mobile Robot by :

Download or read book Trajectory Tracking Control of Two Wheels Mobile Robot written by and published by . This book was released on 2011 with total page 58 pages. Available in PDF, EPUB and Kindle. Book excerpt: