Type Of Wheeled Mobile Robot Research Articles

An Indoor Mobile Robot Localization in perspective of Analysis and Performance using Unscented Kalman Filter

This paper describes a method in an indoor environment for the estimation and position, using an Unscented Kalman Filter (UKF). The UKF algorithm applied for the position estimation proposing a new measurement uncertainty model that fixes the error covariance according to the distance measurement. In addition, this approach sets the non-diagonal component of the error covariance matrix for the uncertainty of the speed information and the measurement uncertainty to a value other than zero. This method is evaluated through an experiment using a wheel-type mobile robot with an LRF sensor in an indoor environment. In this experiment, we differentiate the estimation execution of the proposed approach with a conventional method that does not employ an adaptive uncertainty model. Moreover, the results improved the estimation performance by setting the non-diagonal component of the error covariance to a value other than zero. The main emphasis of this paper is to implement a practical UKF method for location estimation of a mobile robot and analyze it with better performance.

Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution.

This paper presents a nonlinear, universal, path-following controller for Wheeled Mobile Robots (WMRs). This approach, unlike previous algorithms, solves the path-following problem for all common categories of holonomic and nonholonomic WMRs, such as omnidirectional, unicycle, car-like, and all steerable wheels. This generality is the consequence of a two-stage solution that tackles separately the platform path-following and wheels’ kinematic constraints. In the first stage, for a mobile platform divested of the wheels’ constraints, we develop a general paradigm of a path-following controller that plans asymptotic paths from the WMR to the desired path and, accordingly, we derive a realization of the presented paradigm. The second stage accounts for the kinematic constraints imposed by the wheels. In this stage, we demonstrate that the designed controller simplifies the otherwise impenetrable wheels’ kinematic and nonholonomic constraints into explicit proportional functions between the velocity of the platform and that of the wheels. This result enables us to derive a closed-form trajectory generation scheme for the asymptotic path that constantly keeps the wheels’ steering and driving velocities within their corresponding, pre-specified bounds. Extensive experimental results on several types of WMRs, along with simulation results for the other types, are provided to demonstrate the performance and the efficacy of the method.

Grey Estimator-Based Tracking Controller Applied to Swarm Robot Formation

Mobile robots are widely used in many applications, while various types of mobile robots and their control researches have been proposed in literature. Since swarm robots have higher flexibility and capacity for teamwork, this paper presents a grey estimator-based tracking controller for formation trajectory tracking of swarm robots. First, wheel-type mobile robots are used and modeled for the controller design. Then, a grey dynamic estimator is developed to estimate the environmental disturbance and model uncertainty for linear feedback compensation. As a result, the asymptotic trajectory tracking is assured, so that the application on the swarm robot formation is achieved for a multi-agent system. The computational complexity is slightly reduced by the design. Finally, in order to verify the reliability of swarm robot formation, several types of formation are maintained by the grey estimator-based feedback linearization controller.

Enhancing Tilt-Integral-Derivative Controller to Motion Control of Holonomic Wheeled Mobile Robot by Using New Hybrid Approach

Trajectory tracking of wheeled mobile robot is the most interesting and important subject in robotic systems field. In this paper, a four mecanum wheeled mobile robot (FMWMR) has been considered. This type was considered because it is the most famous holonomic type of wheeled mobile robot (WMR). The main purpose of this work is to design a new hybrid controller for the trajectory tracking of FMWMR based on the kinematic model. The proposed controller consists of Tilt-Integral-Derivative (TID) controller tuned parameters with neural network as well as social spider optimization i.e., (TID-NN-SSO) which is applied on the kinematic model of the FMWMR. The forward and inverse kinematic equations were derived. The TID controller was used for computing the controlled signals which are the angular velocities of each wheel while the neural network (NN) and social spider optimization (SSO) were to compute the parameters of TID controller. MATLAB/Simulink programing was implemented to simulate the results. A comparative study between TID-NN-SSO and TID controller tuned parameters by using particles swarm optimization (TID-PSO) was conducted. The results of the mean square errors (MSE) in (x and y) coordinates as well as the orientation error obtained from TID–NN-SSO are (2.105*10−4 m, 1.025*10−4 m, 0.0815 rad) and they are less than the MSE that was obtained from TID-PSO which are (0.00567 m, 0.0356 m, 1.22 rad/s). This indicates that TID–NN-SSO is more efficient than TID-PSO.

Self-Localization using Spatially Seamless Local Communication System

In controlling the mobile robots, self-localization is an important elemental technology. As a self-localization method of the wheel type mobile robots, there is a dead reckoning method which estimates a movement distance from a rotation amount calculated based on values from an encoder mounted on wheels or motors. However, in practice,there is an error caused by external factors such as idling of the wheels. As one of choices to reduce the error, methods of estimating the self position by using relative positions of other robots are introduced, especially in swarm robot environment. Although these methods can effectively utilize the existence of surrounding robots, they are often limited to verification in simulation. One of the reasons is the difficulty in developing communication devices for swarm robot environments. The spatially seamless local communication system we have developed is effective as a device for that purpose. However, it is difficult to mount it on small robots due to its large size and its complicated structure. In this paper, we propose the communication system redesigned to from a structure that is compact and suitable for self-localization.

Neural adaptive output feedback formation control of type ( m , s ) wheeled mobile robots

This study introduces a general framework for the formation tracking control of all types of wheeled mobile robots (WMRs). On the basis of a coordinate transformation, a second-order input-output model is developed for the general type ( m , s ) WMR with the mobility m and the steerability s . Then, a saturated feedback linearising controller in conjunction with a non-linear velocity observer is proposed in order to leave out the velocity sensors in all agents. In addition, a radial basis function neural network and an adaptive robust compensator are incorporated in the formation controller design to improve the tracking performance in the presence of uncertain non-linearities and unknown parameters. Semi-global stability of the closed-loop formation system is proved using direct Lyapunov method. Moreover, a generalisation of the proposed controller is introduced for the cooperative control of mobile manipulators. Finally, simulation examples are given to illustrate the effectiveness of the proposed formation control system for two types of WMRs.

A Practical Coordinated Trajectory Tracking for A Group of Mixed Wheeled Mobile Robots with Communication Delays

Coordination between a specific mobile robot type has been widely investigated, e.g coordination between unicycles. To extend the applicability of the system, a coordinated trajectory tracking of mixed type of mobile robots is considered. We prove that if a certain type of wheeled mobile robot is able to individually track its own reference, then coordination in tracking with other type of robots can be achieved simply by sharing individual tracking errors. Using two types of wheeled mobile robots, namely unicycle type (a nonholonomic mobile robot) and omni wheels type (a holonomic mobile robot), a coordinated control algorithm can achieve a global asymptotically stable condition of the error dynamics of the systems. Under bidirectional communication between robots as a constraint, the group is able to maintain individual tracking while coordinating the movements with other robots regardless occurring perturbations in the system and delays in communication channels. Simulation results suggest that information sharing between the robots increase the robustness in coordinating individual trajectories. Results also show that delays cause drop in performance similar to the case of no information sharing.

1P2-F09 路面環境変化に対する車輪型移動ロボットのロバスト適応速度制御

This study addresses the problem of robust adaptive control for uncertain road surface for wheel type mobile robot. The dynamic characteristic of wheel type mobile robot changes owing to the influence of the road surface variation and the changes of the rolling resistance depending on the air pressure of tires. It is necessary to adjust controller gains in case of implementation of the static control system. We propose the robust speed control method adopting simple adaptive control (SAC) in order to adapt to road surface variation. Experimental results demonstrated the effectiveness of the SAC of the wheel type mobile robot.

REAL-TIME VELOCITY AND DIRECTION ANGLE CONTROL OF AN AUTOMATED GUIDED VEHICLE

In this paper, an adaptive fuzzy control (AFC) system is applied to velocity and direction angle control of a certain type of wheeled mobile robots called automated guided vehicles (AGVs). The fuzzy control system includes an adaptive model identifier and controller. The gains of fuzzy controller are obtained by using the fuzzy identifier model which is defined by real system outputs and control inputs. The parameters of fuzzy identifier model are adjusted online by using recursive least square algorithm. A PI controller is also applied to AGV to show the robustness of the AFC system. Experimental results prove that the AFC shows better tracking performance than the PI controller in terms of robustness, smoothness and fast dynamics. Results are given for complex references, sudden disturbance and extra load conditions.

2A2-A07 路面摩擦変化を考慮した単純適応制御系による車輪型移動ロボットの速度制御(車輪型/クローラ型移動ロボット(2))

2A2-A07 路面摩擦変化を考慮した単純適応制御系による車輪型移動ロボットの速度制御(車輪型/クローラ型移動ロボット(2))

2A2-S04 動特性を考慮した車輪型移動ロボットの自己位置推定(移動ロボットの自己位置推定と地図構築)

2A2-S04 動特性を考慮した車輪型移動ロボットの自己位置推定(移動ロボットの自己位置推定と地図構築)

Lagrange Dynamic Modeling of a Multi-Fingered Robot Hand in Free Motion Considering the Coupling Dynamics

Multi-fingered robot hands have been one of the major research topics because several robotic systems, including service robots, industrial robots and wheel-type mobile robots require grasping and manipulation of a variety of objects as crucial functionalities. Roughly speaking, there are two different types of robotic behavior: free motion, purpose of this paper and constrained motion that would be published in the near future. In this paper, we address the problem of multi-fingered robot hand’s dynamic modeling which is fundamental in design of model-based controllers for grasping and manipulation tasks. Based on the specified multi-fingered robot hand, a new methodology for deriving an efficient dynamic equation by the Lagrange formulation is presented. This methodology is new in the sense that it considers the coupling dynamics of the system in the identification of the parameters of the dynamic equation. Furthermore the developed dynamic model leads to decoupling dynamic characteristics, by which the control of different parts of the system can be separately simulated. So the new structure of the dynamic model was very useful and effective for the simulation and the diagnostic. Several simulation results proved that the derived dynamic model can predict the motion of the multi-fingered hand in free motion.

자이로와 가속도 센서를 이용한 차륜형 도립진자 이동로봇 제어

본 논문은 비선형성이 내재된 모바일 역진자형 로봇 시스템의 제어기 성능을 개선하고, 위치와 속도제어를 위하여 두 개의 다룬 휠로 구동되는 역진자형 타입의 모바일 로봇으로 모델링하였다. 이 시스템은 파라미터의 변화를 실시간으로 체크하고. 제어신호는 여러 상황에서 시스템이 원하는 상태를 유지하도록 변화하게 구성하였고, PI 제어기로 설계하였다. 시스템이 불안정하므로 시스템의 안전성 판별을 통하여 PI 제어기의 게인 값을 설계하였다. 위 실험 결과로서 수동 튜딩 방법 보다 터 좋은 적절한 방법의 성능을 얻을 수 있었다. This paper proposes the improvement of control performance in the wheeled inverted mobile robot system. and describes the modeling of a wheeled inverted pendulum type mobile robot driven by two different wheels for the position and velocity control. The system is sensitive on the parameter variation, therefore control signal should change to maintain desired state of the system in every instant. we designed proportional-plus-integral controller for our system, After linearization, the system was still unstable, throughout stability analysis of the system, we designed the values of the gains of a proportional-plus-integral controller. From the experimental results, we can find that the performance of the proposed method is better than of the manual tuning method.

1P1-F11 段差上りロボットのための可変柔軟車輪の開発(車輪型/クローラ型移動ロボット(3))

There are many mechanisms aiming at leveling run among wheel type mobile robots. The reason is that high efficiency is realized by wheels at leveling run. However, the limitation of step height is determined by the radius of the wheel. Therefore, the operating environment of the robots may be restricted. So, we proposed a Transformable Flexible Wheel (TFW) whose belt transforms by contacting one step. According to this mechanism, the mobile robots can travel across one step without control and sensors. In this paper, we discuss that the TFW is superior to a general wheel from calculation of static equilibrium. Then, we developed a wheel type mobile robot using four TFWs, and conducted an experiment using the robot. From the experiment, it was shown that TFW is effective for travel one step.

513 概略地図とのロバストな位置の対応付けを考慮した車輪型移動ロボットの走行(0S.6 ロボット制御2)

513 概略地図とのロバストな位置の対応付けを考慮した車輪型移動ロボットの走行(0S.6 ロボット制御2)

2A2-H10 SLAMデータの概略地図への局所的対応付けによる車輪型移動ロボットの走行(移動ロボットの自己位置推定と地図構築(2))

2A2-H10 SLAMデータの概略地図への局所的対応付けによる車輪型移動ロボットの走行(移動ロボットの自己位置推定と地図構築(2))

Optimal design and kinetic analysis of a stair-climbing mobile robot with rocker-bogie mechanism

Based on the well-known rocker-bogie mechanism, this paper first presents an optimal design of a wheel-type mobile robot in order to ensure high mobile stability as well as excellent adaptability while climbing stairs. As an optimization tool, the Taguchi method is adopted due to its simplicity and cost-effectiveness both in formulating an objective function and in satisfying multiple constraints simultaneously. The sensitivity analysis with respect to design parameters is carried out to provide an insight to their effects on the performance criterion under kinematic constraints which are imposed to avoid undesired interferences between a mobile robot and stairs. To evaluate the climbing capability of the optimized rocker-bogie mechanism, the friction requirement metric is chosen, which is defined as a minimum friction coefficient required for a mobile robot to climb a stair without slip. Through a kinetic analysis of a stair-climbing motion, a locomotive strategy suitable for the proposed rocker-bogie mechanism is derived to minimize slip while climbing a stair and successfully verified through extensive simulations.

Light-driven mobile robot based on light-induced bending polymer film

Light-induced bending polymer film can bend and return to flat under the light irradiation, and transform light energy into mechanical energy directly. A Light-driven wheel-type mobile robot is designed and manufactured based on this film. The experiment of the robot proves that this device can be driven by light energy. Driving mechanism of this film is revealed when driving moment is analyzed with energy method. Key words: Light-induced bending polymer film, light-driven mobile robot, driving moment, energy method.

Path Following Control of Mobile Robot Using Lyapunov Techniques and PID Cntroller

Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following controller based on the PID for mobile robot path following. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity and orientation tracking control of the nonholonomic WMR. The simulation results of wheel type mobile robot platform are given to show the effectiveness of the proposed algorithm.

C109 自己復元機構を有する倒立振子型移動ロボットにおける傾斜路走行(車両システム)

Safety and reliability is important for the design of the service robot in the symbiosis space. This study addresses the two wheeled inverted pendulum type mobile robot with self-righting mechanism in order to adopt a mobile unit of a tour guide robot. Some problems of the self-righting mechanism were clearly existed from the results of some conventional study. The problems were a lack of a stalling torque and an attitude angle leaned backward when moving a slope or a step. The center of gravity movement mechanism using an air cylinder system was adopted in order to solve these problems in this paper. The experimental results indicated that the adjustment of the center of gravity position can be achieved adaptively for the attitude angle of the robot, and the effectiveness of the proposed mechanism for the attitude control of inverted pendulum type mobile robot with self-righting mechanism.