Motion Control of Swedish Wheeled Mobile Robots in the Presence of Actuator Saturation

Indiveri, Giovanni; Paulus, Jan; Plöger, Paul G.

doi:10.1007/978-3-540-74024-7_4

Cited by 20 publications

(9 citation statements)

References 9 publications

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“…For example, when a robot makes a sharp turn with high translation and rotation velocities, motors will easily be saturated. This problem can degrade the robot's performance and in some cases causes robot instability [16]. In other works, path following control set up the vehicle's forward velocity tracks a desired speed profile, while the controller acts on the vehicle orientation to drive it to the path [10,17].…”

Section: Flc Goal Tracking For Wheelchairmentioning

confidence: 99%

Autonomous wheelchair navigation with real time obstacle detection using 3D sensor

2016

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Original scientific paperAutonomous wheelchairs operating in dynamic environments need to sense its surrounding environment and adapt the control signal, in real-time, to avoid collisions and protect the user. In this paper we propose a robust, simple and real-time autonomous navigation module that drives a wheelchair toward a desired target, along with its capability to avoid obstacles in a 3D dynamic environment. To command the mobile robot to the target, we use a Fuzzy Logic Controller (FLC). For obstacle avoidance, we use the Kinect Xbox 360 to provide an actual map of the environment. The generated map is fed to the reactive obstacle avoidance control Deformable Virtual Zone (DVZ). Simulations and real world experiments results are reported to show the feasibility and the performance of the proposed control system.Key words: Wheelchair, Autonomous navigation, FLC, Obstacle avoidance, 3D environment, DVZ, 3D sensors Autonomna navigacija za invalidska kolica s detekcijom prepreka u stvarnom vremenu korištenjem 3D senzora. Autonomna invalidska kolica koja se kreću u dinamičkim okruženjima moraju biti sposobna detektirati prepreke u svojoj okolini, te prilagoditi upravljački signal u stvarnom vremenu kako bi se izbjegli sudari i zaštitio korisnik. U ovom radu predlaže se jednostavan, robustan modul za autonomnu navigaciju u stvarnom vremenu koji vodi invalidska kolica prema željenom odredištu, te omogućuje izbjegavanje prepreka u 3D okruženju. Za upravljanje koristi se regulator baziran na neizravnoj logici (FLC). Za izbjegavanje prepreka koristi se Kinect Xbox 360 senzor koji gradi kartu okoline. Generirana karta se predaje reaktivnoj kontroli za izbjegavanje prepreka Deformiranoj Virutalnoj Zoni (DVZ). Prikazani su rezultati simulacija i eksperimenata u stvarnom svijetu kako bi se pokazala izvedivost i kvaliteta izvoenja predloženog sustava upravljanja.

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Section: Flc Goal Tracking For Wheelchairmentioning

confidence: 99%

Autonomous wheelchair navigation with real time obstacle detection using 3D sensor

2016

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“…Computing the time derivatives of (22) and some calculation leads to the error kinematics model of the path following problem…”

Section: Problem Formulationmentioning

confidence: 99%

Nonlinear model predictive control for path following problems

Chen

et al. 2014

Intl J Robust & Nonlinear

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This paper presents a general nonlinear model predictive control scheme for path following problems. Path following problem of nonlinear systems is transformed into a parameter-dependent regulation problem. Sufficient conditions for recursive feasibility and asymptotic convergence of the given scheme are presented. Furthermore, a polytopic linear differential inclusion-based method of choosing a suitable terminal penalty and the corresponding terminal constraint are proposed. To illustrate the implementation of the nonlinear model predictive control scheme, the path following problem of a car-like mobile robot is discussed, and the control performance is confirmed by simulation results.

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“…Problems of the dynamics, optimal and adaptive motion control of omnidirectional platforms are analyzed in [18,29,31,32,35]. A number of publications are concerned with the mechanics of mobile devices with an arbitrary number, type and configuration of wheels [4,8,9].…”

Section: Introductionmentioning

confidence: 99%

A Study of the Controlled Motion of a Four-wheeled Mecanum Platform

Adamov¹

2018

Nelin. Dinam.

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The object of the study is the mobile platform of the KUKA youBot robot equipped with four Mecanum wheels. The ideal conditions for the point contact of the wheels and the floor are considered. It is assumed that the rollers of each Mecanum wheel move without slipping and the center of the wheel, the center of the roller axis, and the point of contact of the roller with the floor are located on the same straight line. The dynamics of the system is described using Appel's equations and taking into account the linear forces of viscous friction in the joints of the bodies. An algorithm for determination of the control forces is designed. Their structure is the same as that of the reactions of ideal constraints determined by the program motion of the point of the platform. The controlled dynamics of the system is studied using uniform circular motion of the platform point as an example: conditions for the existence and stability of steady rotations are found, conditions for the existence of stable-unstable stationary regimes and rotational motions of the platform are obtained. Within the framework of the theory of singular perturbations, an asymptotic analysis of the rotation of the platform is carried out.

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Motion Control of Swedish Wheeled Mobile Robots in the Presence of Actuator Saturation

Cited by 20 publications

References 9 publications

Autonomous wheelchair navigation with real time obstacle detection using 3D sensor

Autonomous wheelchair navigation with real time obstacle detection using 3D sensor

Nonlinear model predictive control for path following problems

A Study of the Controlled Motion of a Four-wheeled Mecanum Platform

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