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Author : Mahsa Aliakbar Golkar
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (13 download)
Download or read book Trajectory Tracking and Formation Control of a Platoon of Mobile Robots written by Mahsa Aliakbar Golkar and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author :
Publisher :
ISBN 13 :
Total Pages : 58 pages
Book Rating : 4.:/5 (953 download)
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:
Author : Gayan Gamage Don
Publisher :
ISBN 13 :
Total Pages : 264 pages
Book Rating : 4.:/5 (632 download)
Download or read book Decentralized Leader Follower Based Formation Control Strategies for Multiple Nonholonmic Mobile Robots written by Gayan Gamage Don and published by . This book was released on 2009 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Ramón González
Publisher : Springer
ISBN 13 : 9783319383323
Total Pages : 0 pages
Book Rating : 4.3/5 (833 download)
Download or read book Autonomous Tracked Robots in Planar Off-Road Conditions written by Ramón González and published by Springer. This book was released on 2016-09-24 with total page 0 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 : Dongyu Li
Publisher : CRC Press
ISBN 13 : 1040015468
Total Pages : 411 pages
Book Rating : 4.0/5 (4 download)
Download or read book Maneuverable Formation Control in Constrained Space written by Dongyu Li and published by CRC Press. This book was released on 2024-05-14 with total page 411 pages. Available in PDF, EPUB and Kindle. Book excerpt: Inspired by the community behaviors of animals and humans, cooperative control has been intensively studied by numerous researchers in recent years. Cooperative control aims to build a network system collectively driven by a global objective function in a distributed or centralized communication network and shows great application potential in a wide domain. From the perspective of cybernetics in network system cooperation, one of the main tasks is to design the formation control scheme for multiple intelligent unmanned systems, facilitating the achievements of hazardous missions – e.g., deep space exploration, cooperative military operation, and collaborative transportation. Various challenges in such real-world applications are driving the proposal of advanced formation control design, which is to be addressed to bring academic achievements into real industrial scenarios. This book extends the performance of formation control beyond classical dynamic or stationary geometric configurations, focusing on formation maneuverability that enables cooperative systems to keep suitable spacial configurations during agile maneuvers. This book embarks on an adventurous journey of maneuverable formation control in constrained space with limited resources, to accomplish the exploration of an unknown environment. The investigation of the real-world challenges, including model uncertainties, measurement inaccuracy, input saturation, output constraints, and spatial collision avoidance, brings the value of this book into the practical industry, rather than being limited to academics.
Author : Rohit Santosh Talati
Publisher : ProQuest
ISBN 13 : 9780549144144
Total Pages : pages
Book Rating : 4.1/5 (441 download)
Download or read book A Potential Field Approach to Multiple Robot Formation Control written by Rohit Santosh Talati and published by ProQuest. This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: A special case of cooperative control for mobile robots is considered--formation control. A potential field based algorithm is developed in which geometric, communication and information centric influences are considered and allowed to deform the formation. Control is accomplished in a leader-follower(s) method. One leader robot defines the overall trajectory and follower nodes individually and autonomously maintain the formation while simultaneously moving toward a goal position. The particular nodes considered are the ARRIbots developed at the Distributed and Intelligence and Autonomy Lab (DIAL) in the Automation and Robotic and Research Institute (ARRI), which are non-holonomic differential-drive wheeled robots. In order to facilitate the above, a kinematic model for the ARRIbot mobile robot that accounts for its non-holonomic constraint and particular inputs is presented. Based on this model, a trajectory tracking controller (LQR based) is detailed assuming a given reference trajectory. Finally additional artificial forces are added to account for additional constraints on the optimal node paths and positions. Obstacle avoidance is added to the formation by repulsive forces and an artificial communications force is added in order to optimize the wireless communications channel between nodes. These results are validated using computer simulations and experiments with the ARRIbots on our mobile robot platform. It was found that the potential field algorithm was successful in maintaining the required node formation. The position error for follower nodes was found to decay as required. In addition, a simulation of mine-field detection scenario was shown to successfully combine the three formation influences. The LQR trajectory tracker was found to satisfy the requirements of the formation control algorithm. The state estimate error was low for both straight line and turning motions while the tracking error was low for straight line and high for turning motions. This was attributed to the short duration of the latter and amplification of calculation and processing delay errors. The accuracy of the state estimate errors was shown to be useful in reducing the tracking error over multiple trajectories.
Author : Konstantinos Diamantaras
Publisher : Springer Science & Business Media
ISBN 13 : 3642158218
Total Pages : 558 pages
Book Rating : 4.6/5 (421 download)
Download or read book Artificial Neural Networks - ICANN 2010 written by Konstantinos Diamantaras and published by Springer Science & Business Media. This book was released on 2010-09-03 with total page 558 pages. Available in PDF, EPUB and Kindle. Book excerpt: This three volume set LNCS 6352, LNCS 6353, and LNCS 6354 constitutes the refereed proceedings of the 20th International Conference on Artificial Neural Networks, ICANN 2010, held in Thessaloniki, Greece, in September 2010. The 102 revised full papers, 68 short papers and 29 posters presented were carefully reviewed and selected from 241 submissions. The second volume is divided in topical sections on Kernel algorithms – support vector machines, knowledge engineering and decision making, recurrent ANN, reinforcement learning, robotics, self organizing ANN, adaptive algorithms – systems, and optimization.
Author : Yusuf Abdul-Razaq
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (133 download)
Download or read book Leader-follower Formation Control of ROS Enabled Mobile Robots Subject to Robots Failure written by Yusuf Abdul-Razaq and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Over the years, control of autonomous vehicles in a defined formation has been the subject of much research. Albeit leader-follower approach being one of the most used in formation control, it suffers a major practical drawback of leader failure while cruising in formation. In this work, we aim to solve this problem by proposing a novel assignment algorithm that assigns a new leader from the follower robots to ensure robots complete their given task when their leader fails. This algorithm also assign role to new robots joining the group, and also to the failed robot when rescued back to the team. We drive robots towards their desired trajectories to achieve formation using a Lyapunov-based time-varying state tracking controller from the literature. Due to role switching amongst member robots, we propose a limit-cycle obstacle avoidance control algorithm to ensure smooth and collision free transition. Simulations and experiments are performed using the Robot Operating System (ROS) framework due to its flexibility to verify the effectiveness and reliability of the proposed algorithms.
Author : Dianwei Qian
Publisher :
ISBN 13 : 9781536182651
Total Pages : 224 pages
Book Rating : 4.1/5 (826 download)
Download or read book A Closer Look at Formation Control written by Dianwei Qian and published by . This book was released on 2020 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Formation control is one of the most challenging problems in cooperative multi-robots. It is defined as a coordination of a group of robots to get into and to maintain a formation with a certain shape. The formation control problem has drawn significant attention for many years, and now it is well understood and tends to be mature. This control problem is originated from biological inspires such as flocking and schooling. Its classification includes formation shape generation, formation reconfiguration and selection, formation tracking, and role assignment in formation. It also has potential applications in search and rescue missions, forest fire detection and surveillance, etc. It can be extended to many real world systems, autonomous robots, such as underwater vehicles, unmanned aerial vehicles, mobile sensor networks, rectangular agents, nonholonomic mobile robots, to name but a few. Apparently, the book cannot include all research topics. The editor and the authors wish that it could reveal some tendencies on this research field and benefit readers. In this book, different aspects of formation control are explored. Chapters includes some new tendencies and developments in research on several formation methods of multi-robot systems, that is, the 1st-order sliding mode control, the 2nd-order sliding mode control, the integral sliding mode control, the terminal sliding mode control, the sliding model control of multi-agents and the fuzzy-based formation control of multiple quadrotor systems"--
Author : Gerard Sequeira
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (235 download)
Download or read book Vision Based Leader-follower Formation Control for Mobile Robots written by Gerard Sequeira and published by . This book was released on 2007 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Creating systems with multiple autonomous vehicles places severe demands on the design of control schemes. Robot formation control plays a vital role in coordinating robots. As the number of members in a system rise, the complexity of each member increases. There is a proportional increase in the quantity and complexity of onboard sensing, control and computation. This thesis investigates the control of a group of mobile robots consisting of a leader and several followers to maintain a desired geometric formation"--Abstract, leaf iii
Author : Travis Alan Dierks
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (746 download)
Download or read book Formation Control of Mobile Robots and Unmanned Aerial Vehicles written by Travis Alan Dierks and published by . This book was released on 2009 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "In this dissertation, the nonlinear control of nonholonomic mobile robot formations and unmanned aerial vehicle (UAV) formations is undertaken and presented in six papers. In the first paper, an asymptotically stable combined kinematic/torque control law is developed for leader-follower based formation control of mobile robots using backstepping. A neural network (NN) is introduced along with robust integral of the sign of the error (RISE) feedback to approximate the dynamics of the follower as well as its leader using online weight tuning. Subsequently, in the second paper, a novel NN observer is designed to estimate the linear and angular velocities of both the follower and its leader robot and a NN output feedback control law is developed. On the other hand, in the third paper, a NN-based output feedback control law is presented for the control of an underactuated quad rotor UAV, and a NN virtual control input scheme is proposed which allows all six degrees of freedom to be controlled using only four control inputs. The results of this paper are extended to include the control of quadrotor UAV formations, and a novel three-dimensional leader-follower framework is proposed in the fourth paper. Next, in the fifth paper, the discrete-time nonlinear optimal control is undertaken using two online approximators (OLA's) to solve the infinite horizon Hamilton-Jacobi-Bellman (HJB) equation forward-in-time to achieve nearly optimal regulation and tracking control. In contrast, paper six utilizes a single OLA to solve the infinite horizon HJB and Hamilton-Jacobi-Isaacs (HJI) equations forward-intime for the near optimal regulation and tracking control of continuous affine nonlinear systems. The effectiveness of the optimal tracking controllers proposed in the fifth and sixth papers are then demonstrated using nonholonomic mobile robot formation control"--Abstract, leaf iv
Author : Mellal, Mohamed Arezk
Publisher : IGI Global
ISBN 13 : 1668453835
Total Pages : 406 pages
Book Rating : 4.6/5 (684 download)
Download or read book Design and Control Advances in Robotics written by Mellal, Mohamed Arezk and published by IGI Global. This book was released on 2022-09-16 with total page 406 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics plays a pivotal role in many domains such as industry and medicine. Robots allow for increased safety, production rates, accuracy, and quality; however, robots must be well designed and controlled to achieve the required performance. The design and control of robotics involve many varying disciplines, such as mechanical engineering, electronics, and automation, and must be further studied to ensure the technology is utilized appropriately. Design and Control Advances in Robotics considers the most recent applications and design advances in robotics and highlights the latest developments and applications within the field of robotics. Covering key topics such as deep learning, machine learning, programming, automation, and control advances, this reference work is ideal for engineers, computer scientists, industry professionals, academicians, practitioners, scholars, researchers, instructors, and students.
Author : Wenxing Fu
Publisher : Springer Nature
ISBN 13 : 981990479X
Total Pages : 3985 pages
Book Rating : 4.8/5 (199 download)
Download or read book Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022) written by Wenxing Fu and published by Springer Nature. This book was released on 2023-03-10 with total page 3985 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes original, peer-reviewed research papers from the ICAUS 2022, which offers a unique and interesting platform for scientists, engineers and practitioners throughout the world to present and share their most recent research and innovative ideas. The aim of the ICAUS 2022 is to stimulate researchers active in the areas pertinent to intelligent unmanned systems. The topics covered include but are not limited to Unmanned Aerial/Ground/Surface/Underwater Systems, Robotic, Autonomous Control/Navigation and Positioning/ Architecture, Energy and Task Planning and Effectiveness Evaluation Technologies, Artificial Intelligence Algorithm/Bionic Technology and Its Application in Unmanned Systems. The papers showcased here share the latest findings on Unmanned Systems, Robotics, Automation, Intelligent Systems, Control Systems, Integrated Networks, Modeling and Simulation. It makes the book a valuable asset for researchers, engineers, and university students alike.
Author : Yang Yi
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (115 download)
Download or read book Control Laws Design and Validation of Autonomous Mobile Robot Off-Road Trajectory Tracking Based on ADAMS and MATLAB Co-Simulation Platform written by Yang Yi and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Control Laws Design and Validation of Autonomous Mobile Robot Off-Road Trajectory Tracking Based on ADAMS and MATLAB Co-Simulation Platform.
Author : Shweta Annapurani Panimadai Ramaswamy
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (26 download)
Download or read book Formation Control of Car-like Mobile Robots written by Shweta Annapurani Panimadai Ramaswamy and published by . This book was released on 2008 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "A traditional tracking and control design approach already available in literature is derived and discussed for a car-like mobile robot. It involves a decoupled design involving two separate algorithms, one for velocity control design and another for torque control design. Weak interactions among the algorithms and separate designs make the robot performance optimization and the formation stability difficult to achieve. So, a new tracking and control architecture wherein the conventional elements are replaced by a single component that performs all the functions and hence called the integrated tracking and control scheme is used"--Abstract, leaf iii
Author : Kiattisin Kanjanawanishkul
Publisher :
ISBN 13 :
Total Pages : 147 pages
Book Rating : 4.:/5 (665 download)
Download or read book Coordinated Path Following Control and Formation Control of Mobile Robots written by Kiattisin Kanjanawanishkul and published by . This book was released on 2010 with total page 147 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Pierre Lamon
Publisher : Springer Science & Business Media
ISBN 13 : 3540782869
Total Pages : 112 pages
Book Rating : 4.5/5 (47 download)
Download or read book 3D-Position Tracking and Control for All-Terrain Robots written by Pierre Lamon and published by Springer Science & Business Media. This book was released on 2008-04-25 with total page 112 pages. Available in PDF, EPUB and Kindle. Book excerpt: Rough terrain robotics is a fast evolving field of research and a lot of effort is deployed towards enabling a greater level of autonomy for outdoor vehicles. This book demonstrates how the accuracy of 3D position tracking can be improved by considering rover locomotion in rough terrain as a holistic problem. Although the selection of appropriate sensors is crucial to accurately track the rover’s position, it is not the only aspect to consider. Indeed, the use of an unadapted locomotion concept severely affects the signal to noise ratio of the sensors, which leads to poor motion estimates. In this work, a mechanical structure allowing smooth motion across obstacles with limited wheel slip is used. In particular, it enables the use of odometry and inertial sensors to improve the position estimation in rough terrain. A method for computing 3D motion increments based on the wheel encoders and chassis state sensors is developed. Because it accounts for the kinematics of the rover, this method provides better results than the standard approach. To further improve the accuracy of the position tracking and the rover’s climbing performance, a controller minimizing wheel slip is developed. The algorithm runs online and can be adapted to any kind of passive wheeled rover. Finally, sensor fusion using 3D-Odometry, inertial sensors and visual motion estimation based on stereovision is presented. The experimental results demonstrate how each sensor contributes to increase the accuracy and robustness of the 3D position estimation.
