Effect of Wheel Slip in the Coordination of Wheeled Mobile Robots

Konduri, Shyamprasad; Orlando, Edison; Torres, Cobos; Pagilla, Prabhakar R.

doi:10.3182/20140824-6-za-1003.02716

Cited by 6 publications

(7 citation statements)

References 11 publications

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“…To establish the mapping to physical properties, we describe the friction properties and stiffness properties in a discrete manner. We employed a method similar to that of [6]. Ten masters of the laboratory were asked to use the Likert scale to judge the level of friction and stiffness of each terrain in different states of the dataset.…”

Section: Second Stage: From the Terrain Type To Physical Propertiesmentioning

confidence: 99%

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A Vision-Based Two-Stage Framework for Inferring Physical Properties of the Terrain

et al. 2020

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The friction and stiffness properties of the terrain are very important pieces of information for mobile robots in motion control, dynamics parameter adjustment, trajectory planning, etc. Inferring the friction and stiffness properties in advance can improve the safety, adaptability and reliability, and reduce the energy consumption of the robot. This paper proposes a vision-based two-stage framework for pre-estimating physical properties of the terrain. We established a field terrain image dataset with weak annotations. A semantic segmentation network that can segment terrains at the pixel level was designed. Given that the same terrain also has different physical properties, we designed two kinds of image features, and we use a decision-making model to realize the mapping from terrain to physical properties. We trained and tested the network comprehensively, and experimented with the complete framework for estimating physical properties. The experimental results show that our framework has good performance.

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Section: Second Stage: From the Terrain Type To Physical Propertiesmentioning

confidence: 99%

“…Wheeled robots can thus avoid excessive wheel slip and sinking. This will save energy, improve safety and reduce odometer error for wheeled robots [6,7]. Overly strong vibrations will seriously affect the accuracy of the robot's camera, lidar, IMU and other sensors [8].…”

Section: Introductionmentioning

confidence: 99%

A Vision-Based Two-Stage Framework for Inferring Physical Properties of the Terrain

et al. 2020

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“…The study (Iagnemma and Ward 2008) also accounted for the possibility of the AGV moving under various surface conditions and verifying the model with GPS technology. Papers (Konduri et al 2014;Lindgren et al 2002) determine the maximum driving torque transferable by a given wheel. Introducing this value to the guidance algorithm prevents sliding, thus reducing positioning errors.…”

Section: Related Workmentioning

confidence: 99%

The impact of load on the wheel rolling radius and slip in a small mobile platform

2019

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Automated guided vehicles are used in a variety of applications. Their major purpose is to replace humans in onerous, monotonous and sometimes dangerous operations. Such vehicles are controlled and navigated by application-specific software. In the case of vehicles used in multiple environments and operating conditions, such as the vehicles which are the subject of this study, a reasonable approach is required when selecting the navigation system. The vehicle may travel around an enclosed hall and around an open yard. The pavement surface may be smooth or uneven. Vehicle wheels should be flexible and facilitate the isolation and absorption of vibrations in order to reduce the effect of surface unevenness to the load. Another important factor affecting the operating conditions are changes to vehicle load resulting from the distribution of the load and the weight carried. Considering all of the factors previously mentioned, the vehicle's navigation and control system is required to meet two opposing criteria. One of them is low price and simplicity, the other is ensuring the required accuracy when following the preset route. In the course of this study, a methodology was developed and tested which aims to obtain a satisfactory compromise between those two conflicting criteria. During the study a vehicle made in Technical University of Rzeszow was used. The results of the experimental research have been analysed. The results of the analysis provided a foundation for the development of a methodology leading to a reduction in navigation errors. Movement simulations for the proposed vehicle system demonstrated the potential for a significant reduction in the number of positioning errors.

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“…Such a condition also ensures that the WUAV does not detach from the pipe while moving. Taking inspiration from [33] for the case of a mobile robot on a flat floor, the procedure to find the non-slipping constraint is here extended for the case of a wheeled robot on a circular tube. The presence of assumption i) implies that there is not any lateral force acting on the wheels pushing them along the pipe.…”

Section: B Derivation Of the Constraints For Stabilizationmentioning

confidence: 99%

Nonlinear Model Predictive Control for the Stabilization of a Wheeled Unmanned Aerial Vehicle on a Pipe

Zhao

Ruggiero

Fontanelli

et al. 2019

IEEE Robot. Autom. Lett.

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This letter addresses the task of stabilizing a wheeled unmanned aerial vehicle on a pipe, which is an emerging application in oil and gas facilities for nondestructive measurements. After the derivation of the dynamic model of the system, a discrete-time nonlinear model predictive controller is designed over a finite horizon. The analysis of the asymptotic stability of the designed controller is carried out. Numerical tests show the performance and the robustness of the proposed solution.Index Terms-Nonlinear model predictive control, wheeled unmanned aerial vehicle, nondestructive testing

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Effect of Wheel Slip in the Coordination of Wheeled Mobile Robots

Cited by 6 publications

References 11 publications

A Vision-Based Two-Stage Framework for Inferring Physical Properties of the Terrain

A Vision-Based Two-Stage Framework for Inferring Physical Properties of the Terrain

The impact of load on the wheel rolling radius and slip in a small mobile platform

Nonlinear Model Predictive Control for the Stabilization of a Wheeled Unmanned Aerial Vehicle on a Pipe

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