Dynamic Models Design for Processing Motion Reference Signals for Mobile Robots

Antipov, Aleksey S.; Kokunko, Yulia G.; Krasnova, Svetlana A.

doi:10.1007/s10846-022-01686-1

Cited by 5 publications

(11 citation statements)

References 37 publications

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“…In order to fulfill the given constraints (18), we propose the use the block control principle in the synthesis of corrective actions

and nonlinear bounded feedback. Such feedback is S-shaped sigmoid function, which is a modification of the hyperbolic tangent

[ 28 , 29 , 30 , 31 ]. This function is defined on the whole number line.…”

Section: Resultsmentioning

confidence: 99%

“…This procedure ensures that the output variables of the generator track a given non-smooth, non-noisy signal with some accuracy. It is shown that the use of the block approach and S-shaped smooth and bound feedback [ 28 , 29 , 30 , 31 ] makes it possible to consider the constraints on the velocity and acceleration of the control plant. Therefore, generator variables produce a naturally smoothed space curve and its derivatives in real time.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic Smoothing, Filtering and Differentiation of Signals Defining the Path of the UAV

Antipov

Kokunko

Krasnova

et al. 2022

Sensors

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On the example of a control system for an unmanned aerial vehicle, we consider the problems of filtering, smoothing and restoring derivatives of reference action signals. These signals determine the desired spatial path of the plant at the first approximation. As a rule, researchers have considered these problems separately and have used different methods to solve each of them. The paper aims to develop a unified approach that provides a comprehensive solution to mentioned problems. We propose a dynamic admissible path generator. It is constructed as a copy of the canonical control plant model with smooth and bounded sigmoid corrective actions. For the deterministic case, a synthesis procedure has been developed, which ensures that the output variables of the generator track a non-smooth reference signal. Moreover, it considers the constraints on the velocity and acceleration of the plant. As a result, the generator variables produce a naturally smoothed spatial curve and its derivatives, which are realizable reference actions for the plant. The construction of the generator does not require exact knowledge of the plant parameters. Its dynamic order is less than that of the standard differentiators. We confirm the effectiveness of the approach by the results of numerical simulation.

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“…In order to fulfill the given constraints (18), we propose the use the block control principle in the synthesis of corrective actions

and nonlinear bounded feedback. Such feedback is S-shaped sigmoid function, which is a modification of the hyperbolic tangent

[ 28 , 29 , 30 , 31 ]. This function is defined on the whole number line.…”

Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic Smoothing, Filtering and Differentiation of Signals Defining the Path of the UAV

Antipov

Kokunko

Krasnova

et al. 2022

Sensors

Self Cite

View full text Add to dashboard Cite

show abstract

“…The control problem of multiple mobile robot collaboration is addressed by one modular control approach with a minimized cost function (Wang et al 2022). To provide smooth signals that can be realized by a specific robot, a dynamic differentiator is presented with piecewise linear corrective measures (Antipov et al 2022).…”

Section: Introductionmentioning

confidence: 99%

A Leader Follower Algorithm Based Path Navigation Approach for Multiple Autonomous Vehicles

Mukherjee,

Kumar,

Borah

2023

Preprint

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Multi-agent path navigation in unknown environments is a challenging task where an effective device-to-device communication-based algorithm needs to be designed with minimum error. A leader-follower algorithm has been proposed in this literature for multi-agent communication. The proposed algorithm has improved the percentage deviation in travel time and the percentage deviation in path length. The proposed algorithm is designed in two parts. One part is for leader path navigation, and the other is used to update the followers. The obstacle avoidance mechanism is used in the first part of the algorithm. The computation speed of the algorithm is mainly dependent on the guidance that the leader provides to the follower agent. Path update from the leader side to the follower side is the most important task in this proposed method. One leader and two follower agents were considered in simulation environments to establish the feasibility of the algorithm. In the simulation, each follower agent was made to commute with a few seconds' time gap after the leader had started. After several simulations, the proposed approach has a 2.82% average deviation in travel time and a 31% average deviation in path length. The average success rate of the proposed technique in different environments was found equal to 66%. Studies show that the accuracy of this technique is more than 54% on average.

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“…Instead of the above methods of analytical smoothing of the reference trajectory, we propose dynamic smoothing that does not require complex geometric calculations, an exact analytical description of the trajectory segments, and the calculation of the appropriate polynomial factors. In our previous papers [16,17], we designed a dynamic generator of admissible trajectories for aircraft-type UAVs. This is an autonomous sixth-order dynamic virtual model, which is constructed as a replica of the input-output canonical model describing the motion of the UAV's center of mass.…”

Section: Introductionmentioning

confidence: 99%

“…It is also shown that unlike the sixth-order dynamic generator [16,17], in this case, we can additionally ensure that the constraints on the third and fourth derivatives are satisfied, obtain a smoother signal for the second derivative, and reduce the algorithm's counting time. The novelty of the proposed approach lies in the fact that the tracking differentiator generates smooth signals and their derivatives of the required order (which is quite sufficient for the design of standard tracking systems) with automatic implementation of design constraints.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Models with Sigmoid Corrections to Generation of an Achievable 4D-Trajectory for a UAV and Estimating Wind Disturbances

2023

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For an unmanned aerial vehicle (UAV) of an aircraft type, the problems of planning achievable trajectories as well as robust control under wind disturbances are considered. A computationally simple method for compiling a primary non-smooth 4D trajectory is proposed. Its segments connect the given waypoints and determine the desired average velocity in various sections. Instead of time-consuming methods of analytical smoothing of broken path joints using polynomials, a tracking differentiator with S-shaped smooth and limited sigmoid corrective actions is developed. This virtual dynamic model provides natural smoothing of the primary trajectory considering the design constraints on the velocity, acceleration, and thrust of the UAV. The tracking differentiator variables create an achievable trajectory and are used to synthesize the UAV tracking system. To compensate for the action of wind disturbances on the UAV, a disturbance observer is developed. It is a replica of the equations of the control plant model, which are directly affected by external uncontrolled disturbances. These algorithms also use sigmoid corrections. Unlike standard disturbances observers, this approach does not require the development of a dynamic model of external disturbances and does not assume their smoothness. The effectiveness of the developed algorithms was confirmed by numerical simulation.

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Dynamic Models Design for Processing Motion Reference Signals for Mobile Robots

Cited by 5 publications

References 37 publications

Dynamic Smoothing, Filtering and Differentiation of Signals Defining the Path of the UAV

Dynamic Smoothing, Filtering and Differentiation of Signals Defining the Path of the UAV

A Leader Follower Algorithm Based Path Navigation Approach for Multiple Autonomous Vehicles

Dynamic Models with Sigmoid Corrections to Generation of an Achievable 4D-Trajectory for a UAV and Estimating Wind Disturbances

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