Mobile Robot Control V

Tzafestas, Spyros G.

doi:10.1016/b978-0-12-417049-0.00009-2

Cited by 9 publications

(8 citation statements)

References 28 publications

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“…The non-holonomic mobile robot kinematics was derived using the well known techniques in the literature (Tzafestas, 2013). First, Figure 2 shows a diagram illustrating the variables represent the set of positions and velocities of the mobile robot.…”

Section: Methodsmentioning

confidence: 99%

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Development of a hybrid multi-layer control architecture for a cooperative team of N − homogeneous robots

ElAshry

Ramadan

ElAlaily

et al. 2019

Transactions of the Institute of Measurement and Control

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This paper proposes a hybrid centralized control architecture for formation control of N-homogeneous mobile robots. The addressed problem is maintaining an equilateral triangular formation using three mobile robots while moving towards a desired target avoiding any collision. The proposed architecture is divided into four main subsystems; a main path-planner, a nonlinear Lyapunov-based controller, a Secure Shell (SSH) communication module and an image processing algorithm. The main path-planner subsystem itself is subdivided into three algorithms; brain-like algorithm, sub-path-planner and an information center algorithm. The brain-like algorithm is responsible for all the decision making. On the other hand, the sub-path-planner works on translating the decisions of the brain into more precise decisions to the individual robots. Meanwhile, the information center acts as the memory for the brain to access saved information previously shared between the robots. It is shown that the control algorithm allows any initial allocation of the three robots to converge to a triangle formation in an optimal manner while avoiding collisions. Finally, the potential use of this formation as a platform acting as an autonomous mobile helipad is introduced as a practical application for the proposed architecture.

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Section: Methodsmentioning

confidence: 99%

“…In order to formulate control law that would ensure the stability of the robot, the following candidate lyapunov function is selected (Tzafestas, 2013)…”

Section: Methodsmentioning

confidence: 99%

Development of a hybrid multi-layer control architecture for a cooperative team of N − homogeneous robots

ElAshry

Ramadan

ElAlaily

et al. 2019

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

show abstract

“…These tasks are often painful, repetitive, dangerous, and too precise for human beings. 1 The new systems are now intended to move in a dynamic and uncertain environment, where both the static and mobile obstacles can be found. It is therefore highly important and difficult to ensure the safety of the robot’s movement in such unsecure environments.…”

Section: Introductionmentioning

confidence: 99%

Distributed path planning of a multi-robot system based on the neighborhood artificial potential field approach

2018

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The current study is set up to investigate the problem of planning the trajectories of a multi-robot system. It puts emphasis on the idea of using distributed architecture to plan the trajectories of a group of wheeled mobile robots. Each robot must be able to detect and avoid collision with both static and dynamic obstacles present in its environment/neighborhood. This study seeks to improve the artificial potential field (APF) method in order to have good trajectory planning of a multi-robot system. In order to address the purpose of this work, we employed the hybrid approach, which is a combination of three techniques: the APF method; the neighborhood system; and the notion of priority between the robots. Moreover, the minimum local problem is handled in this paper using the non-minimum speed algorithm. The implemented approach is adapted to solve the trajectory planning problem for a multi-robot system. So, the problem of intersection of robots at the same passage point is solved through using the method of assignment of priority between robots. We also used the neighborhood detection technique to reduce the influence area of each robot and to optimize the time of calculation. The overall system equations associated to the robots are updated at each time of simulation to react at any condition that might suddenly emerge. The approach is implemented with MATLAB/Simulink and Solidworks/Simmechanics.

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“…WMRs are of different types such as differential drive, car like, and unicycle where each one has their own kinematic and dynamic equations. 3 Fault detection and isolation (FDI) is a necessary task in autonomous WMRs to assure their reliable and safe operation in different environments.…”

Section: Introductionmentioning

confidence: 99%

Design and real-time implementation of actuator fault-tolerant control for differential-drive mobile robots based on multiple-model approach

Yazdjerdi

Meskin

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this article, an actuator fault-tolerant control scheme is proposed for differential-drive mobile robots based on the concept of multiple-model approach. The nonlinear kinematic model of the differential-drive mobile robot is discretized and a bank of extended Kalman filters is designed to detect, isolate, and identify actuator faults. A fault-tolerant controller is then developed based on the detected fault to accommodate its effect on the trajectory-tracking performance of the mobile robot. Extensive experimental results are presented to demonstrate the efficacy of the proposed faulttolerant control approach.

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Mobile Robot Control V

Cited by 9 publications

References 28 publications

Development of a hybrid multi-layer control architecture for a cooperative team of N − homogeneous robots

Development of a hybrid multi-layer control architecture for a cooperative team of N − homogeneous robots

Distributed path planning of a multi-robot system based on the neighborhood artificial potential field approach

Design and real-time implementation of actuator fault-tolerant control for differential-drive mobile robots based on multiple-model approach

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