Modeling Skidding and Slipping in Wheeled Mobile Robots: Control Design Perspective

Wang, Danwei; Low, Chor Ping

doi:10.1109/iros.2006.282309

Cited by 34 publications

(40 citation statements)

References 8 publications

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“…The position vector is calculated by involving the actuators rotational kinematic model to quantify displacements. Most commonly used techniques, Wang and Low [31] are used to compute the angular velocity based on discrete odometry strategies (though prone to incrementally fail when skids and/or slips occur). We propose a solution to deduce x t based on controlling the wheels actuator.…”

Section: Position Modelmentioning

confidence: 99%

Exponential Fields Formulation for WMR Navigation

Martínez‐García

Torres-Cordoba

2012

Applied Bionics and Biomechanics

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Abstract. In this manuscript, an autonomous navigation algorithm for wheeled mobile robots (WMR) operating in dynamic environments (indoors or structured outdoors) is formulated. The planning scheme is of critical importance for autonomous navigational tasks in complex dynamic environments. In fast dynamic environments, path planning needs algorithms able to sense simultaneously a diversity of obstacles, and use such sensory information to improve real-time navigation control, while moving towards a desired goal destination. The framework tackles 4 issues: 1) Reformulation of the Social Force Model (SFM) adapted to WMR; 2) the cohesion of a general inertial scheme to represents motion in any coordinate system; 3) control of actuators rotational speed as a general model regardless kinematic restrictions; 4) assuming detection of features (obstacles/goals), adaptive numeric weights are formulated to affect navigational exponential components. Simulation and experimental outdoors results are presented to show the feasibility of the proposed framework.

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Section: Position Modelmentioning

confidence: 99%

Exponential Fields Formulation for WMR Navigation

Martínez‐García

Torres-Cordoba

2012

Applied Bionics and Biomechanics

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“…Wang (2008) provides good perspective for controller design from a viewpoint of kinematics. One of the authors reviewed the recent control strategies in this fields (Yokoyama, 2013).…”

Section: Introductionmentioning

confidence: 99%

Adaptive control of a skid-steer mobile robot with uncertain cornering stiffness

Yokoyama

Ikarashi

Okawa

2015

Mechanical Engineering Journal

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This paper presents an adaptive controller for a position tracking problem of a skid-steer mobile robot. First, a non-adaptive control law is designed by the backstepping method, where the reference signals are generated by a non-holonomically constrained kinematic model in order to make it easy to construct a Lyapunov function candidate. Then an estimator for unknown cornering stiffness is designed based on the Immersion and Invariance (I&I) approach, where the manifold is properly designed to reduce the effect of the estimation error on the tracking performance. Finally it is shown that the closed-loop system can be uniformly ultimately bounded, and numerical simulation shows the effectiveness of the proposed controller.

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“…However, the information on skidding and slipping should be measured by a global positioning system (GPS), but only kinematics was used to design the controllers in [18,19]. Besides, the works [17][18][19] did not include any ideas for obstacle avoidance for mobile robots in the presence of wheel sliding.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding

Cui

Sun

Liu

et al. 2012

International Journal of Advanced Robotic Systems

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An adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding. A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time-varying parameters. A sliding model observer is introduced to estimate the sliding parameters online. A stable tracking control law for this nonholonomic system is proposed to compensate the unknown sliding effect. From Lyapunovstability analysis, it is proved, regardless of unknown sliding, that tracking errors of the controlled closed-loop system are asymptotically stable, the tracking errors converge to zero outside the obstacle detection region and obstacle avoidance is guaranteed inside the obstacle detection region. The efficiency and robustness of the proposed control system are verified by simulation results.

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Modeling Skidding and Slipping in Wheeled Mobile Robots: Control Design Perspective

Cited by 34 publications

References 8 publications

Exponential Fields Formulation for WMR Navigation

Exponential Fields Formulation for WMR Navigation

Adaptive control of a skid-steer mobile robot with uncertain cornering stiffness

Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding

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