Optimal formation and control of cooperative wheeled mobile robots

Abbaspour, Adel; Alipour, Khalil; Jafari, Hadi Zare; Moosavian, S. Ali A.

doi:10.1016/j.crme.2015.04.003

Cited by 22 publications

(10 citation statements)

References 17 publications

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“…x 3 = 0.05t (24) The desired and actual trajectories of the robot joint space and its comparison for different velocities of the fluid and also its comparison with the response of the system without the mentioned turbine blades are shown in Fig. 6.…”

Section: Robot Equipped By Turbine Bladesmentioning

confidence: 99%

“…This method is just implemented for mobile robots by Korayem et al, 23 through which the optimal path is extracted in order to minimize the consumed energy. Adel Abbaspour et al 24 presented the optimal formation of a group of the wheel-based robot that is dealt with for manipulating a common object. Mohamed Boukens et al 25 performed the trajectory tracking and solved optimal control problem of mobile robot systems with nonholonomic constraints, in the presence of time-varying parametric uncertainties and external disturbances.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic Optimization of a Steerable Screw In-pipe Inspection Robot Using HJB and Turbine Installation

et al. 2020

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SUMMARY In this paper, two strategies are proposed to optimize the energy consumption of a new screw in-pipe inspection robot which is steerable. In the first method, optimization is performed using the optimal path planning and implementing the Hamilton–Jacobi–Bellman (HJB) method. Since the number of actuators is more than the number of degrees of freedom of the system for the proposed steerable case, it is possible to minimize the energy consumption by the aid of the dynamics of the system. In the second method, the mechanics of the robot is modified by installing some turbine blades through which the drag force of the pipeline fluid can be employed to decrease the required propulsion force of the robot. It is shown that using both of the mentioned improvements, that is, using HJB formulation for the steerable robot and installing the turbine blades can significantly save power and energy. However, it will be shown that for the latter case this improvement is extremely dependent on the alignment of the fluid stream direction with respect to the direction of the robot velocity, while this optimization is independent of this case for the former strategy. On the other hand, the path planning dictates a special pattern of speed functionality while for the robot equipped by blades, saving the energy is possible for any desired input path. The correctness of the modeling is verified by comparing the results of MATLAB and ADAMS, while the efficiency of the proposed optimization algorithms is checked by the aid of some analytic and comparative simulations.

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Section: Robot Equipped By Turbine Bladesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic Optimization of a Steerable Screw In-pipe Inspection Robot Using HJB and Turbine Installation

et al. 2020

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“…Trajectory optimization [13] with linearized dynamics was solved as a sequential convex program to assign tasks and plan motion of robot swarms. Offline trajectory optimization was established for planar payload transportation using multiple passive 1-dof nonholonomic mobile manipulators [14]. An integer program [3] was proposed to geometrically plan motion for multi-mobile manipulator, non-planar payload transportation.…”

Section: Related Workmentioning

confidence: 99%

Motion Planning for Multi-Mobile-Manipulator Payload Transport Systems

Tallamraju

Salunkhe

Rajappa

et al. 2019

2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)

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In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute realtime collision-free motion plans for a formation of mobile manipulator robots. Initially, collision-free configurations of a deformable 2-D virtual bounding box are identified, over a planning horizon, to define a convex workspace for the entire system. Then, 3-D payload configurations whose projections lie within the defined convex workspace are computed. Finally, a convex decentralized model-predictive controller is formulated to plan collision-free trajectories for the formation of mobile manipulators. This approach facilitates real-time motion planning for the system and is scalable in the number of robots. The algorithm is validated in simulated dynamic environments. Simulation video: https://youtu.be/9EKj7RwRs_4.

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“…The problem of multi-vehicle motion has been studied a lot due to its extensive applications with high robustness and engineering application value. 12,13 So far, there have been some common methods such as leader-follower architecture, 14 behavior-based approach, 15 virtual structure, 16 and algebraic graph theory. 17 These traditional methods ensure that each unit is moving toward the designated position to realize formation, and researchers have solved many distributed control problems.…”

Section: Introductionmentioning

confidence: 99%

Motion Control and Trajectory Planning for Obstacle Avoidance of the Mobile Parallel Robot Driven by Three Tracked Vehicles

Shentu¹,

Xie²,

Liu³

et al. 2020

Robotica

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SUMMARY This paper proposes a mobile parallel robot (MPR) and focuses on obstacle avoidance. When analyzing the collision-free trajectories, the coupling constraints caused by the parallel mechanism and the obstacle should be emphatically solved. The solution is to divide the problem into two steps. First, the genetic algorithm is employed to search and optimize the feasible trajectories under the mechanism constraint of the MPR. Then the trajectory tracking controller is designed to make the tracked vehicles move cooperatively and track a trajectory asymptotically. Finally, simulations and experiments are carried out to verify the effectiveness of the solution.

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Optimal formation and control of cooperative wheeled mobile robots

Cited by 22 publications

References 17 publications

Dynamic Optimization of a Steerable Screw In-pipe Inspection Robot Using HJB and Turbine Installation

Dynamic Optimization of a Steerable Screw In-pipe Inspection Robot Using HJB and Turbine Installation

Motion Planning for Multi-Mobile-Manipulator Payload Transport Systems

Motion Control and Trajectory Planning for Obstacle Avoidance of the Mobile Parallel Robot Driven by Three Tracked Vehicles

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