Control Of Mobile Robot Research Articles

Trajectory tracking control of wheeled mobile robots with skidding and time-varying delay

This paper tackles the problem of trajectory tracking for wheeled mobile robots subject to time-varying input delay and bounded external disturbances. First, we establish a dynamic model for a wheeled mobile robot under sliding and skidding conditions, and determine the maximum allowable input delay that maintains system stability using Razumikhin-type stability analysis without prior knowledge of the variation in delay. The proposed adaptive robust controller combined with super-twisting sliding mode control is resilient to disturbances such as input delay, system uncertainty, and parameter variation. The proposed adaptive law enables real-time modification of switching gain based on tracking error without predefined knowledge of uncertainty bounds. Compared with traditional sliding mode control strategies, the super-twisting algorithm can eliminate chattering phenomenon while combined robust methods further reduce modeling uncertainties’ influence on system performance. Finally, we select an appropriate Lyapunov function to analyze and prove uniformly ultimately bounded of the closed-loop system. MATLAB simulation comparison results demonstrate that this approach achieves high tracking accuracy, faster response speed, and robustness.

Fuzzy predictive controller for trajectory tracking of a wheeled mobile root

This paper presents a mobile robot control methodology that uses a fuzzy predictive control system to accurately track given paths. It is specifically designed for scenarios of two successive and distinct paths within a shared reference trajectory. Through the combination of fuzzy logic and predictive control methods, the system aims to significantly enhance tracking accuracy. Modelling the system, using a T-S fuzzy system provides a comprehensive model framework to optimize the tracking process. Furthermore, the use of a well-tuned fuzzy system facilitates dynamic adjustments of the weighting matrices of the predictive controller. The combination of fuzzy logic and predictive techniques results in a robust control system capable of handling complex tracking tasks. The simulation results describe the accuracy, robustness, and efficiency of the suggested control strategy. The system is particularly effective in scenarios with two successive paths within a shared reference trajectory, where precise tracking is essential. This approach is crucial for mobile robots or vehicles navigating complex, changing environments.

GestureMoRo: an algorithm for autonomous mobile robot teleoperation based on gesture recognition

Gestures are a common way people communicate. Gesture-based teleoperation control systems tend to be simple to operate and suitable for most people’s daily use. This paper employed a LeapMotion sensor to develop a mobile robot control system based on gesture recognition, which mainly established connections through a client/server structure. The principles of gesture recognition in the system were studied and the relevant self-investigated algorithms—GestureMoRo, for the association between gestures and mobile robots were designed. Moreover, in order to avoid the unstably fluctuated movement of the mobile robot caused by palm shaking, the Gaussian filter algorithm was used to smooth and denoise the collected gesture data, which effectively improved the robustness and stability of the mobile robot’s locomotion. Finally, the teleoperation control strategy of the gesture to the WATER2 mobile robot was realized, and the effectiveness and practicability of the designed system were verified through multiple experiments.

Adaptive region-reaching control for a non-holonomic mobile robot via system decomposition approach

This article focuses on the region-reaching control for a non-holonomic mobile robot system with two actuated wheels. The region-reaching control task consists of three basic control objectives: reaching an objective region, maintaining a rest state in the objective region, and stabilising at a desired posture. The constraints imposed on the motion of the mobile robot system are not integrable and have no inverse resolution, and thus increase the complexity of the controller design for non-holonomic systems. A system decomposition approach is proposed to convert the non-holonomic constraint control system to the cascade holonomic constraint control subsystems, and an adaptive control gain technique is presented to guarantee the stability of the non-holonomic system. Then, a novel torque controller is presented to implement the region-reaching control task. Specially, the objective region can be considered as a parking spot for a mobile robot.

Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots

Abstract Omnidirectional locomotion provides wheeled mobile robots (WMR) with better maneuverability and flexibility, which enhances their energy efficiency and dexterity. Universal omni-wheels are one of the best categories of wheels that can be used to develop a WMR (Amarasiri et al., 2022, “Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot,” ASME Letters Dyn. Sys. Control., 2(4), p. 040902. 10.1115/1.4055690). We study dynamic modeling and controllers for mobile robots to train in a reinforcement learning (RL)-based navigation algorithm. RL tasks require copious amounts of learning iteration episodes, which makes training very time consuming. The choice of dynamic model and controller has a significant impact on training time. In this paper, we compare a traditional Kane’s equations model to a non-holonomic canonical momenta model (Barhorst, 2019, “Generalized Momenta in Constrained Non-Holonomic Systems—Another Perspective on the Canonical Equations of Motion,” Int. J. Non-Linear Mech., 113, pp. 128–145.). We implemented four controllers: proportional integral derivative, linear quadratic regulator with integral action, pole placement, and a full nonlinear sliding mode controller. We summarize the pros and cons of each of the modeling techniques, and control laws implemented. The outcomes of our analysis will improve RL training time for path generation in unstructured environments.

Adaptive Image-Based Moving-Target Tracking Control of Wheeled Mobile Robots With Visibility Maintenance and Obstacle Avoidance

Adaptive Image-Based Moving-Target Tracking Control of Wheeled Mobile Robots With Visibility Maintenance and Obstacle Avoidance

Review on Design and Development of Four Directional Fire Protection System

Abstract: The Development of an autonomous Four-directional fire-fighting robot has long been approaching. The creation of such equipment makes it possible to rescue people and property more quickly with less fire damage. As professionals, it is our responsibility to design and evaluate fire extinguishers and extinguishers. For this project we created a solar powered feature for uninterruptible power supply. Wireless controlled mobile robot. The robot can move around the building model, locate the fire, and then extinguish it using water spray. The development of autonomous firefighting robots is a long-standing need. Thanks to the development of this equipment, people and goods can be rescued quickly, with little fire damage. As experts, our job is to design and test fire detection and suppression systems. In this project, we developed a solar energy function for non-interruptive energy products. Wireless mobile robots. The robot can move within the building model, find the fire and extinguish it with the help of water spray

Methodology for Model-Based Design of Mobile Robots Control Algorithms

This article proposes the formalized methodology for model-based design of mobile platform management systems. The methodology is based on an alternative approach to development, when the model of controlled object is firstly created as a design tool, and then control algorithms are developed. This allows to find the most successful algorithms and select control parameters that are close to optimal in the process of model-based design. As examples, two typical tasks from the field of mobile platform management are given - braking and steering control. The proposed methodology has sufficient unification to be used in the design of control systems for mobile platforms of various types, with different positioning systems, principles of navigation and autopiloting.

Research and Implementation of Cooperative Control for ROS Mobile Robot

Research and Implementation of Cooperative Control for ROS Mobile Robot

Enhancing 2D Path Search and PID Control for Autonomous Mobile Robots: A* Algorithm Optimization and Hardware

Intelligent autonomous mobile robots find diverse applications across various fields. This article delves into the optimization of path search planning and implementation for these robots in specific scenarios. The study enhances the traditional right-hand principle's search strategy, integrating a forward-looking approach grounded in the goal-oriented law with A* algorithm path planning. Emphasizing the algorithm's lightweight and high efficiency, the study also considers its interaction with hardware systems. The real-world application scenario is abstracted into a two-dimensional planar environment. Collaborative efforts between hardware and software systems result in a comprehensive robot system, validated through tests ensuring swift navigation from the starting point to the endpoint along the planned path.

Navigation Path Following Platform for a Greenhouse Shuttle Robot Using the State-flow Method

Localization is an important method for autonomous indoor robots to recognize their positions. Generally, the navigation of a mobile robot is conducted using a camera, Lidar, and global positioning system. However, for an indoor environment, GPS is unavailable. Therefore, a, state-trajectory tracking method is utilized based on a Lidar map. This paper presents the path following of an autonomous indoor mobile robot, that is, a shuttle robot, using a state-flow method via a robot operating system network. MATLAB and Linux high-level computers and an inertial measurement unit sensor are used to obtain the Cartesian coordinate information of a bicycle-type mobile robot. The path following problem can be solved in the state-flow block by setting appropriate time and linear and angular velocity variables. After the predetermined time, the linear and angular velocities are set based on the length of the path and radius of the quarter-circle of the left and right turns in the state-flow block, path planning, which can execute the work effectively, is established using the state-flow algorithm. The state-flow block produces time-series data that are sent to Linux system, which facilitates real-time mobile platform path following scenario. Several cases within the path-following problem of the mobile robot were considered, depending on the linear and angular velocity settings: the mobile robot moved forward and backward, turned in the right and left directions on the circular path. The effectiveness of the method was demonstrated using the desktop-based indoor mobile robot control results. Thus, the paper focuses on the application of the state-flow algorithm to the shuttle robot specifically in the narrow indoor environment.

A general update rule for Lyapunov‐based adaptive control of mobile robots with wheel slip

SummaryIn this article, we introduce a novel family of Lyapunov‐based adaptive kinematic control laws developed to solve the trajectory tracking problem for a differential‐drive mobile robot under the influence of both longitudinal and lateral wheel slip. Each adaptive controller in this family is constructed by augmenting a nonadaptive nominal controller, originally designed for the slip‐free case, with an update rule capable of estimating the longitudinal slip. In the absence of lateral slip and under constant longitudinal slip, we establish the convergence of the trajectory tracking error to zero and, assuming a persistent excitation condition, we also demonstrate the convergence of the slip estimate error to zero. When lateral slip is present, we analyse a particular control law from our family of adaptive controllers. This law ensures the trajectory tracking error is uniformly ultimately bounded around the origin, demonstrating the robustness of our adaptive control scheme in dealing with time‐varying longitudinal and lateral slip. The validity of our approach is assessed through comprehensive numerical simulations.

Adaptive fuzzy sliding mode control of uncertain nonholonomic wheeled mobile robot with external disturbance and actuator saturation

This paper developed a modified barrier function-based adaptive sliding mode control (MBFASMC) method to improve the tracking precision and robustness performance of the nonholonomic wheeled mobile robot (NWMR), which is subject to actuator saturation and external disturbance. Owing to the modified positive semi-definite barrier function (MPSDBF), the requirement for disturbance bound and the overestimation of control gain are eliminated. The nonsingular terminal sliding manifold and MPSDBF-based adaptive mechanism can guarantee that the sliding variables and the posture errors of NWMR converge to precisely predefined ultimate bounds in a finite time. In order to compensate for the adverse effect of input saturation, an auxiliary dynamics is proposed based on saturation error and used to construct the MBFASMC. Compared to the recent anti-saturation control methods, the demand for saturation level is released in the proposed control method. Moreover, a modified barrier function-based adaptive fuzzy sliding mode control (MBFAFSMC) is provided to relieve the control chattering problem. By Lyapunov analysis, it is validated that the proposed methods can ensure the pre-specified and finite-time convergence performance of the uncertain NWMR. The MBFASMC and MBFAFSMC are also applied to an actual NWMR experimental platform with artificial disturbances to verify the effectiveness of the proposed methods.

Design and Control of a Transformable Multi-Mode Mobile Robot

Design and Control of a Transformable Multi-Mode Mobile Robot

Distributed Leader Follower Formation Control of Mobile Robots Based on Bioinspired Neural Dynamics and Adaptive Sliding Innovation Filter

This paper investigated the distributed leader follower formation control problem for multiple differentially driven mobile robots. A distributed estimator is first introduced and it only requires the state information from each follower itself and its neighbors. Then, we propose a bioinspired neural dynamic based backstepping and sliding mode control hybrid formation control method with proof of its stability. The proposed control strategy resolves the impractical speed jump issue that exists in the conventional backstepping design. Additionally, considering the system and measurement noises, the proposed control strategy not only removes the chattering issue existing in the conventional sliding mode control but also provides smooth control input with extra robustness. After that, an adaptive sliding innovation filter is integrated with the proposed control to provide accurate state estimates that are robust to modeling uncertainties. Finally, we performed multiple simulations to demonstrate the efficiency and effectiveness of the proposed formation control strategy.

Load Cell-Based Two-Wheeled Mobile Robot Control with Proportion al–Integral–Derivative and Fuzzy Proportional–Integral–Derivative Methods

Load Cell-Based Two-Wheeled Mobile Robot Control with Proportion al–Integral–Derivative and Fuzzy Proportional–Integral–Derivative Methods

Indirect Adaptive Control Using Neural Network and Discrete Extended Kalman Filter for Wheeled Mobile Robot

This paper presents a novel approach to address the challenges associated with the trajectory tracking control of wheeled mobile robots (WMRs). The proposed control approach is based on an indirect adaptive control PID using a neural network and discrete extended Kalman filter (IAPIDNN-DEKF). The proposed IAPIDNN-DEKF scheme uses the NN to identify the system Jacobian, which is used for tuning the PID gains using the stochastic gradient descent algorithm (SGD). The DEKF is proposed for state estimation (localization), and the NN adaptation improves the tracking error performance. By augmenting the state vector, the NN captures higher-order dynamics, enabling more accurate estimations, which improves trajectory tracking. Simulation studies in which a WMR is used in different scenarios are conducted to evaluate the effectiveness of the IAPIDNN-DEKF control. In order to demonstrate the effectiveness of the IAPIDNN-DEKF control, its performance is compared with direct adaptive NN (DA-NN) control, backstepping control (BSC) and an adaptive PID. On lemniscate, IAPIDNN-DEKF achieves RMSE values of 0.078769, 0.12086 and 0.1672. On sinusoidal trajectories, the method yields RMSE values of 0.01233, 0.015138 and 0.088707, and on sinusoidal with perturbation, RMSE values are 0.021495, 0.016504 and 0.090142 in x, y and θ, respectively. These results demonstrate the superior performance of IAPIDNN-DEKF for achieving accurate control and state estimation. The proposed IAPIDNN-DEKF offers advantages in terms of accurate estimation, adaptability to dynamic environments and computational efficiency. This research contributes to the advancement of robust control techniques for WMRs and showcases the potential of IAPIDNN-DEKF to enhance trajectory tracking and state estimation capabilities in real-world applications.

Fixed-time sliding mode estimator-based distributed formation control for multiple nonholonomic mobile robots

This paper proposes a fixed-time estimator-based distributed formation controller for a system consisting of multiple nonholonomic mobile robots, taking into consideration the stability of individuals and the effectiveness of internal communication. The desired trajectory of the formation is given by the virtual leader whose state is available only to some followers, and the information interaction within the followers is localized. To begin with, a distributed fixed-time sliding mode estimator is designed for each follower to estimate the state information of the virtual leader within a fixed time. Subsequently, based on the estimator, a formation controller is designed according to the trajectory tracking error of each follower. In addition, the Lyapunov function is constructed for stability analysis. Finally, simulation experiments are conducted in MATLAB/Simulink to demonstrate the effectiveness of the proposed estimator and controller, and the robustness of the control system is further verified by combining the actual situation of communication interruption and external disturbance.

Design of an Androıid Application for Autonomous Control of Mobile Robot

In the present study, a mobile application for Android is designed to provide the reference values required for the autonomous control of mobile robots designed to be used in different areas and to collect robot information. With this application, robot control parameters can be provided with any Android device without the need for additional hardware or a computer for robot control. In addition to manual control, the application offers an interface for autonomous control and three coordinate points can be sent to the robot so that the robot can go to the desired locations. Additionally, as the robot begins to move, immediate data may be received on the Android device via Bluetooth, and the robot's instant position is displayed coordinate plane on the device screen. in order to demonstrate the efficacy of the study, The autonomous control of a mobile robot, whose design and prototype are carried out, was performed per the references received by the Android application. At the same time, the instant information about the robot was collected on the Android device with the same application with the Excel file extension, transferred to the computer by mail, and the graphs of the data were drawn. The study has shown that not only manual but also autonomous control of robots can be performed via Android devices.

Application of hedge algebras algorithm for mobile robot controller via hand gestures and wireless protocol

With the superior development of technology, mobile robots have become an essential part of humans’ daily life. Consequently, interacting and dealing with them pushes us to develop and propose different suitable Human-Robot Interaction (HRI) systems that can detect the interacted user’s actions and achieve the desired output in real-time. In this paper, we propose a closed-loop smart mechanism for two main agents: the hand gloves’ controller and the mobile robot. To be more specific, the developed model employs flex sensors to measure the curve of the finger. The sensor signals are then processed by aiding the Hedge Algebras Algorithm to control the movement direction and customize the speed of the mobile robot via wireless communication. Numerical simulation and experiments demonstrate that the mobile robot could operate reliably, respond rapidly to control signals, and vary its speed continually based on the different finger gestures. Besides, the control results are also compared with those obtained from the traditional fuzzy controller to prove the superiority and efficiency of the proposed method.