Problem Of Wheeled Mobile Robot Research Articles

Trajectory tracking controller design for wheeled Mobile robot with velocity and torque constraints

This article investigates the trajectory tracking control problem for wheeled mobile robot (WMR) subject to both velocity and torque constraints. Firstly, a more general model is established by considering the displacement between the centre of mass and the midpoint of the driving wheels of the WMR, based on which, a new bounded kinematic controller is proposed by combining the first-order filtering approach to keep the trajectory tracking error asymptotically stable. Then the dynamic controller is designed and the stability of the overall closed-loop system is proved by the Lyapunov stability theory and Barbalat's lemma. Some conditions are given to ensure that both the velocity constraints and torque constraints are satisfied. Finally, some numerical examples are given to show the effectiveness and advantages of the method proposed in this paper.

Vision-Based Adaptive Trajectory Tracking Control of Wheeled Mobile Robot With Unknown Translational External Parameters

In this article, the vision-based trajectory tracking control problem of wheeled mobile robot is addressed, and different from the traditional vision-based adaptive control methods, the case that the camera is not installed in the center of the mobile robot is considered. In this case, the visual model needs to consider the influence of unknown translational external parameters. To solve this problem, a novel adaptive vision-based trajectory tracking control method is proposed, and a two-stage switching trajectory tracking control law is designed, where the adaptive control method is used to compensate the unknown external parameters. The asymptotic convergence of tracking errors are strictly proved by applying the Lyapunov method. Simulation and experimental results show that proposed approach can effectively control the mobile robot to track the desired trajectory in the presence of unknown external translational parameters.

Lyapunov based global trajectory tracking control of wheeled mobile robot

This paper considers the global trajectory tracking control problem of wheeled mobile robot. A novel tracking controller for the kinematic model of wheeled mobile robot is presented based on the cascaded approach theory. Meanwhile, by using the Lyapunov stability theory, the stability of the controller is proved. Finally, the proposed scheme is implemented on the wheeled mobile robot. The simulation results show the effectiveness of the controller.

Trajectory tracking control for wheeled mobile robot subject to generalized torque constraints

The trajectory tracking control problem for wheeled mobile robot (WMR) subject to generalized torque constraints is studied in this paper. First, a more general model is obtained by taking the displacement between the centre of mass of the WMR and the midpoint of the driving wheels into consideration. Then, a virtual velocity controller and a generalized torque controller are designed based on a new Lyapunov function. Due to the advantages of the new Lyapunov function, the stability of the trajectory tracking error system can be derived directly and the constraint of the initial tracking errors is removed. Less conservative conditions for tuning the controller parameters to satisfy the saturation constraints are also derived. Finally, some numerical examples are given to show the effectiveness of the proposed controllers.

Adaptive Visually Servoed Tracking Control for Wheeled Mobile Robot with Uncertain Model Parameters in Complex Environment

This paper investigates the stabilization and trajectory tracking problem of wheeled mobile robot with a ceiling-mounted camera in complex environment. First, an adaptive visual servoing controller is proposed based on the uncalibrated kinematic model due to the complex operation environment. Then, an adaptive controller is derived to provide a solution of uncertain dynamic control for a wheeled mobile robot subject to parametric uncertainties. Furthermore, the proposed controllers can be applied to a more general situation where the parallelism requirement between the image plane and operation plane is no more needed. The overparameterization of regressor matrices is avoided by exploring the structure of the camera-robot system, and thus, the computational complexity of the controller can be simplified. The Lyapunov method is employed to testify the stability of a closed-loop system. Finally, simulation results are presented to demonstrate the performance of the suggested control.

Path tracking control of non-holonomic wheeled mobile robot with skidding and slipping

This study presents an adaptive sliding mode control approach for the trajectory tracking problem of wheeled mobile robot (WMR) with unknown skidding and slipping. Skidding and slipping are regarded as disturbances in the dynamic model to consider them easily. First, a kinematic controller is introduced for the wheeled mobile robot. Secondly, the adaptive sliding-mode dynamic controller is proposed to make the actual velocity of the mobile robot attain the desired velocity command, even if disturbances occur. The proposed controller compensates for unknown skidding and slipping and can remove the chattering phenomenon in the sliding mode control. Using Lyapunov theory, the system stability and the convergence of the tracking errors to zero are proven. Simulations results are given to illustrate the effectiveness of the proposed controller in comparison with a kinematic/torque controller.

Path tracking control of non-holonomic wheeled mobile robot with skidding and slipping

This study presents an adaptive sliding mode control approach for the trajectory tracking problem of wheeled mobile robot (WMR) with unknown skidding and slipping. Skidding and slipping are regarded as disturbances in the dynamic model to consider them easily. First, a kinematic controller is introduced for the wheeled mobile robot. Secondly, the adaptive sliding-mode dynamic controller is proposed to make the actual velocity of the mobile robot attain the desired velocity command, even if disturbances occur. The proposed controller compensates for unknown skidding and slipping and can remove the chattering phenomenon in the sliding mode control. Using Lyapunov theory, the system stability and the convergence of the tracking errors to zero are proven. Simulations results are given to illustrate the effectiveness of the proposed controller in comparison with a kinematic/torque controller.

Adaptive robust fuzzy-based dynamic controller design for wheeled mobile robot

In this paper an adaptive robust fuzzy-based approach is proposed to dynamic controller design problem for wheeled mobile robot in the presence of uncertainties in dynamic model. Also, the kinematic controller is designed based on Lyapunov stability theory in the presence of uncertainties that depend on sliding velocity. In order to eliminate uncertainties in kinematic model, they are modeled as lumped disturbances which estimated by Disturbance Observer DOB based on Linear Matrix Inequality LMI. Simulations are carried out on a wheeled mobile robot to verify the performance of the proposed control scheme.

Path Point Calculation and 3D Coordinate Display for WMR Based on Vision

According to the path point calculation, display and motion simulaiton problem for wheeled mobile robot(WMR), two kinds of path point calcualtion method are discussed from 2D and 3D space in this paper. The simulation results based on the motion simulation platform prove the validity and practicability of the proposed method.

A biologically inspired method for robot navigation in a cluttered environment

SUMMARYThe problem of wheeled mobile robot (WMR) navigation toward an unknown target in a cluttered environment has been considered. The biologically inspired navigation algorithm is the equiangular navigation guidance (ENG) law combined with a local obstacle avoidance technique. The collision avoidance technique uses a system of active sensors which provides the necessary information about obstacles in the vicinity of the robot. In order for the robot to avoid collision and bypass the enroute obstacles, the angle between the instantaneous moving direction of the robot and a reference point on the surface of the obstacle is kept constant. The performance of the navigation strategy is confirmed with computer simulations and experiments with ActivMedia Pioneer 3-DX wheeled robot.

A Method For Guidance of a Wheeled Mobile Robot Based on Received Radio Signal Strength Measurements

We propose a new guidance law for the problem of wheeled mobile robot (WMR) navigation towards an unknown target based on Received Signal Strength (RSS) Information. Given a mobile robot moving with a constant linear velocity, we use the miss-distance derivative as a measure for the angle at which the robot approaches the target. Miss-distance derivative is estimated from RSS, using a Robust Extended Kalman Filter (REKF). Having applied the proposed steering control law, termed Equiangular Navigation Guidance (ENG), the robot approaches the stationary or maneuvering target along a semi-equiangular spiral and eventually goes into a circular trajectory around it. In order to avoid circling, the algorithm is modified to decrease the robot's linear velocity to that of the target as it approaches the moving target and follow it in a smooth trajectory while preserving a safety distance from the target. Eventually, the performance of the guidance law and its effectiveness is confirmed with an extensive simulation study.