Wheeled Mobile Robot (wheeled + mobile_robot)

Distribution by Scientific Domains


Selected Abstracts


Robust discontinuous exponential regulation of dynamic nonholonomic wheeled mobile robots with parameter uncertainties

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, Issue 9 2008
B. L. Ma
Abstract For regulating a dynamic nonholonomic WMR (wheeled mobile robot) with parameter uncertainties, we derive a simple robust discontinuous control law, yielding a global exponential convergence of position and orientation to the desired set point despite parameter uncertainties. The controller design relies on separating the error dynamics into two subsystems, followed by robust feedback control laws to stabilize the subsystems. The effectiveness of the proposed control laws is verified by simulation. Copyright 2007 John Wiley & Sons, Ltd. [source]


Speed control of differentially driven wheeled mobile robots,model-based adaptive approach

JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 6 2005
L. Huang
In this paper, the issue concerning model-based adaptive control for a differentially driven wheeled mobile robot is addressed. By choosing state variables directly related to its speeds (linear and angular), the robot's dynamic model becomes simple with good properties. The controller takes account of the robot dynamics and the coupling between the motions of two wheels, and thus achieves better speed tracking than commonly used model-free PID controller does. The effectiveness of the model free controllers (mostly PID) in some situations is also discussed. Simulation studies are done to verify the effectiveness of the proposed approaches. 2005 Wiley Periodicals, Inc. [source]


Experimental testing of a discrete-time sliding mode controller for trajectory tracking of a wheeled mobile robot in the presence of skidding effects

JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 4 2002
M. Letizia Corradini
This article addresses the trajectory tracking problem for a wheeled mobile base, considering the presence of disturbances that violate the nonholonomic constraint, and using an approximated discrete-time model for the vehicle. The proposed solution is based on discrete-time sliding mode control, in order to ensure that the controller is both robust and implementable. The asymptotic boundedness of the discrete-time tracking errors is theoretically proved, and experimental results are reported, showing the effectiveness of the proposed control law. 2002 Wiley Periodicals, Inc. [source]


STEERING A MOBILE ROBOT: SELECTION OF A VELOCITY PROFILE SATISFYING DYNAMICAL CONSTRAINTS

ASIAN JOURNAL OF CONTROL, Issue 4 2000
M.A. Benayad
ABSTRACT We present an open loop control design allowing to steer a wheeled mobile robot along a prespecified smooth geometric path, minimizing a given cost index and satisfying a set of dynamical constraints. Using the concept of "differential flatness," the problem is equivalent to the selection of the optimal time parametrization of the geometric path. This parametrization is characterized by a differential equation involving a function of the curvilinear coordinate along the path. For the minimum time problem, as well as for another index (such as the maximum value of the centripetal acceleration) to be minimized over a given time interval, the problem then reduces to the optimal choice of this function of the curvilinear coordinate. Using spline functions interpolation, the problem can be recast as a finite parameter optimization problem. Numerical simulation results illustrate the procedure. [source]