Optimal Control Problem of a Differential Drive Robot

Recalde, Luis F.; Guevara, Bryan S.; Cuzco, Giovanny; Andaluz, Víctor H.

doi:10.1007/978-3-030-55789-8_7

Cited by 4 publications

(2 citation statements)

References 17 publications

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“…In terms of the robot and the following monitoring, as the radius of rotation increases, the space required to be covered by the air-conditioner robot increases, increasing the time spent moving. If the radius of rotation decreases, the robot wheels tend to slip more [55][56][57][58][59]. Therefore, it is essential to select an appropriate radius of orbit for the robot tracking.…”

Section: Kinematics Of Differential Drive Caster Robotmentioning

confidence: 99%

Development of Air Conditioner Robot Prototype That Follows Humans in Outdoor Applications

et al. 2021

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According to Robert McSweeney, in light of a new study: “Conditions in the GCC could become so hot and humid in the coming years that staying outside for more than six hours will become difficult”. He is a climate analyst at CARBON BRIEF, a nonprofit temperature and climate analysis group. He also states that changes there can help give us an idea of what the rest of the world can expect if we do not reduce the emissions that pollute homes and factories. Because of the high temperatures in GCC countries, the effect of heat stress is very high there, which discourages shoppers and pedestrians from shopping in the open area due to the physical exertion and high risks faced by people and workers. Heat stress peaks in most Arab Gulf countries from 11:00 a.m. to 4:00 p.m. during the summer season. Heat stress is increasingly an obstacle to economic efficiency in these countries. This work designs and develops a robot that tracks shoppers and provides a cool stream of air directly around them during shopping in open areas to reduce the effect of heat stress. The robot enables us to cool the temperature around customers in the market to increase comfort. In this project, a robot was designed and manufactured to track a specific person and cool the air around him through a cool stream of air generated by the air conditioner installed inside the robot. We used a Raspberry Pi camera sensor to detect the target person and interact with a single-board computer (Raspberry Pi 3) to accomplish this design and the prototype. Raspberry Pi controls the air-conditioning robot to follow the movement of the target person. We used image processing to discover the target shopper, the control system, and then guide the bot. In the meantime, the robot must also bypass any potential obstacles that could prevent its movement and cause a collision. We made a highly efficient design that can synchronize between the software algorithm and the mechanical platform of the robot. This work is merely the combination of a cool stream of air and a robot that follows a human.

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Section: Kinematics Of Differential Drive Caster Robotmentioning

confidence: 99%

Development of Air Conditioner Robot Prototype That Follows Humans in Outdoor Applications

et al. 2021

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“…The combination of maneuverability, cost-effectiveness, and ease of integration positions differential drive mobile robots as a versatile and efficient solution in the ever-evolving landscape of robotics and automation. In order to control the performance variables of such robotic vehicles, several control approaches have been proposed, including, among many, PID type of controllers (see [10][11][12]), linear static state feedback controllers (see [5]), optimal type of controllers (see [13][14][15][16]), predictive controllers (see [17,18]), and fuzzy (see [19,20]) and adaptive controllers (see [21,22]).…”

Section: Introductionmentioning

confidence: 99%

A Two Stage Nonlinear I/O Decoupling and Partially Wireless Controller for Differential Drive Mobile Robots

Kouvakas,

Koumboulis,

Sigalas

2024

Robotics

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Differential drive mobile robots, being widely used in several industrial and domestic applications, are increasingly demanding when concerning precision and satisfactory maneuverability. In the present paper, the problem of independently controlling the velocity and orientation angle of a differential drive mobile robot is investigated by developing an appropriate two stage nonlinear controller embedded on board and also by using the measurements of the speed and accelerator of the two wheels, as well as taking remote measurements of the orientation angle and its rate. The model of the system is presented in a nonlinear state space form that includes unknown additive terms arising from external disturbances and actuator faults. Based on the nonlinear model of the system, the respective I/O relation is derived, and a two-stage nonlinear measurable output feedback controller, analyzed into an internal and an external controller, is designed. The internal controller aims to produce a decoupled inner closed-loop system of linear form, regulating the linear velocity and angular velocity of the mobile robot independently. The internal controller is of the nonlinear PD type and uses real time measurements of the angular velocities of the active wheels of the vehicle, as well as the respective accelerations. The external controller aims toward the regulation of the orientation angle of the vehicle. It is of a linear, delayed PD feedback form, offering feedback from the remote measurements of the orientation angle and angular velocity of the vehicle, which are transmitted to the controller through a wireless network. Analytic formulae are derived for the parameters of the external controller to ensure the stability of the closed-loop system, even in the presence of the wireless transmission delays, as well as asymptotic command following for the orientation angle. To compensate for measurement noise, external disturbances, and actuator faults, a metaheuristic algorithm is proposed to evaluate the remaining free controller parameters. The performance of the proposed control scheme is evaluated through a series of computational experiments, demonstrating satisfactory behavior.

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Neural Network-Based Self-tuning Kinematic Control and Dynamic Compensation for Mobile Robots

Recalde

Guevara

Zea

et al. 2022

Lecture Notes in Mechanical Engineering

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Optimal Control Problem of a Differential Drive Robot

Cited by 4 publications

References 17 publications

Development of Air Conditioner Robot Prototype That Follows Humans in Outdoor Applications

Development of Air Conditioner Robot Prototype That Follows Humans in Outdoor Applications

A Two Stage Nonlinear I/O Decoupling and Partially Wireless Controller for Differential Drive Mobile Robots

Neural Network-Based Self-tuning Kinematic Control and Dynamic Compensation for Mobile Robots

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