Comparative Analysis of Posture Controllers for Tracking Control of a Four-Wheeled Skid-Steered Mobile Robot – Part 1. Theoretical Considerations

Trojnacki, Maciej; Dąbek, Przemysław; Kacprzyk, Janusz; Hendzel, Zenon

doi:10.1007/978-3-319-23923-1_85

Cited by 3 publications

(3 citation statements)

References 3 publications

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“…Skid-steered robots are complex objects from the point of view of modeling and control. Modeling and control of motion of this type of robots are, among others, the subject of works [7,11,15].…”

Section: Skid-steered Wmrsmentioning

confidence: 99%

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Mechanical Properties of Modern Wheeled Mobile Robots

Trojnacki¹,

Dąbek²

2019

JAMRIS

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The paper discusses mechanical properties of modern wheeled mobile robots including aspects of kinematics and dynamics. Relevant features of these robots and of used types of wheels are considered. Robots are categorized into six groups according to kinematic structures, which can be obtained using various types of wheels. For each group mechanical properties, which characterize the robots are discussed. Various variants of the robots within particular groups are described and some examples of existing solutions are given. Individual variants of the robots are compared and assessed taking into account the possessed features.

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Section: Skid-steered Wmrsmentioning

confidence: 99%

“…For such robots it is advisable to introduce the hierarchical control system, consisting of kinematic (pose) and dynamic controllers. This approach is used, among others, in the works [5,15]. In turn, in the paper [11] for motion control of the robot the Nonlinear Model Predictive Control (NMPC) method was used.…”

Section: Skid-steered Wmrsmentioning

confidence: 99%

Mechanical Properties of Modern Wheeled Mobile Robots

Trojnacki¹,

Dąbek²

2019

JAMRIS

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“…It is worth emphasizing that the generalized velocities of the robot included in the control vector for the pose controller, i.e., u s = [v s , ω s ] T , are also the desired velocities from the point of view of the wheels' controller (see Figure 6), which, based on relationships (29) and (30), converts them into the desired wheel spin angular velocities ω d . Moreover, these generalized velocities differ slightly from the desired velocities resulting from the desired motion trajectories (compare Figure 7a,c with Figure 9b), which results from the fact that…”

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confidence: 99%

Model-Based Analysis of the Accuracy of Tracking Control and Energy Efficiency of a Six-Wheeled Skid-Steered Robot

Trojnacki

2024

Applied Sciences

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This article concerns the modeling and motion control of a mobile robot with six independently driven and non-steered wheels. The main research issue is analyzing the influence of the structure of the control system and wheel track on the control accuracy and energy efficiency during robot motion on horizontal paved ground. For this purpose, the kinematic relationships for the robot are discussed and a simplified dynamics model for control applications is developed. The robot’s dynamics model takes into account the most important phenomena of the wheel interaction with the paved ground, including slip. In addition, it is supplemented with a model of the robot’s drive units. Two versions of the control system were adopted for analysis, i.e., with the wheels’ controller only and additionally equipped with a pose controller. Simulation studies were carried out for the developed robot dynamics model and the analyzed versions of the control system in order to investigate the influence of the track width of the wheels and the structure of the control system on motion accuracy and energy efficiency. In order to quantitatively compare the results for the analyzed solutions, quality indices were introduced. The results of the simulation research indicate the influence of the track width of the wheels on the accuracy of motion when using the wheels’ controller, as well as its impact on energy efficiency. Moreover, they show that it is possible to significantly improve the accuracy of motion by using an additional pose controller, which allows limiting the impact of the non-optimal geometric parameters of the robot and the slip of the wheels on trajectory tracking errors. However, the addition of the pose controller does not significantly affect the energy efficiency during the robot’s motion, which may be even worse in this case.

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