Adaptive Visual Regulation of Wheeled Mobile Robots: a Switching Approach

Lu, Qun; Li, Zhijun; Su, Chun‐Yi

doi:10.1007/s10846-019-01065-3

Cited by 9 publications

(3 citation statements)

References 33 publications

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“…By ignoring the distance between the joints and the degree of freedom between robot and its wheels, the configuration of a mobile robot can be described as three general variables 𝑞(𝑡) that describe the robot's position and control input 𝑢(𝑡). This can be defined in the matrix below [48]- [50]. Thus, the linear velocity of the robot can be expressed as equation ( 3), while the angular velocity can be expressed as equation (2).…”

Section: Mathematics Modeling From Differential Mobile Drive Robotmentioning

confidence: 99%

Potential Force Algorithm with Kinematic Control as Path Planning for Disinfection Robot

Suwarno

Oktaviani

Apriani³

et al. 2022

Journal of Robotics and Control

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The disinfection robot is a virus-sterilizing robot that uses a nonholonomic robot model. Route planning algorithms are needed to allow disinfection robots to sterilize rooms in unknown areas and perform the task while navigating using a potential field algorithm. There is a problem applying the algorithm to nonholonomic robots: avoiding obstacles. The proposed route planning algorithm has been transformed into a potential force used to plan the path of disinfection robots in static and dynamic environments and environments with static obstacles. A potential field algorithm is used. There are some issues when the potential force algorithm is applied to nonholonomic disinfection robots in the area. Like any other robot, it takes a long time to avoid static obstacles. Therefore, this paper proposed a potential force algorithm that allows a robot to move towards a target point while avoiding static obstacles. The algorithm showed that a modified potential field algorithm with potential force could be applied to differential-driven robots for path planning. The disinfection robot could avoid obstacles with a faster response using this algorithm.

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Section: Mathematics Modeling From Differential Mobile Drive Robotmentioning

confidence: 99%

Potential Force Algorithm with Kinematic Control as Path Planning for Disinfection Robot

Suwarno

Oktaviani

Apriani³

et al. 2022

Journal of Robotics and Control

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show abstract

“…whereθ = θ * − θ with θ * and θ denote the desired and actual orientation of the camera, respectively. The estimation of the camera orientation can be obtained using different algorithms as in [39], homography techniques [40]- [41], or odometry [26], [42]. Note thatθ = 0 and T = 0 imply that the coordinate frame of the camera F coincides with the desired one F * .…”

Section: Kinematic Model and Control Objectivementioning

confidence: 99%

“…In [25], an approach to the uncalibrated visual stabilization of nonholonomic mobile robots was given. Finally, an adaptive two-stage switching approach to stabilize the visual servoing system in the presence of both uncalibrated camera-to-robot parameters and unknown image depth was proposed in [26].…”

Section: Introductionmentioning

confidence: 99%

Saturated Visual-Servoing Control Strategy for Nonholonomic Mobile Robots With Experimental Evaluations

et al. 2021

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A novel saturated visual control strategy for nonholonomic mobile robots is presented. The principal focus is to deal with the stabilization problem. The saturation bounds for the control actions avoid exceeding the physical restrictions of the actuators. This feature is the main difference concerning related works. The closed-loop system is analyzed using the theory of non-autonomous cascade systems, and global uniform asymptotic stability is guaranteed. Experimental validation is carried out by using a unicycle-type mobile robot with an onboard camera. The experiment consists of stabilizing the robot in a preset pose using visual information. The experimental results are compared with a literature unsaturated visual servoing strategy. The results confirm the effectiveness of the proposed approach, completing the assigned task and bounding the control inputs.INDEX TERMS Mobile robot, real-time experiments, saturated control, stabilization problem, visual servoing.

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A Novel Rank-order-centroid Based Reduction of Self-balanced-bicycle-robot Controller Using Grey-wolf Optimizer

Yadav

Meena

Singh

2022

J Intell Robot Syst

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Adaptive Visual Regulation of Wheeled Mobile Robots: a Switching Approach

Cited by 9 publications

References 33 publications

Potential Force Algorithm with Kinematic Control as Path Planning for Disinfection Robot

Potential Force Algorithm with Kinematic Control as Path Planning for Disinfection Robot

Saturated Visual-Servoing Control Strategy for Nonholonomic Mobile Robots With Experimental Evaluations

A Novel Rank-order-centroid Based Reduction of Self-balanced-bicycle-robot Controller Using Grey-wolf Optimizer

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