Path following controller for planar robots with articulated, actuated and independently steerable velocity-limited wheels

Pitkanen, V.; Tikanmäki, Antti; Kemppainen, Anssi; Röning, Juha

doi:10.1109/icra.2017.7989283

Cited by 2 publications

(2 citation statements)

References 18 publications

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“…In order to ensure the linear dependency is followed by all four module, λ is defined by substituting the maximum βi in to (17) which is determined by the maximum β i,e to fulfill criteria (14) through a PID controller. Thus, the module with the maximum error will be used as reference to calculate the λ.…”

Section: B Second Layer: Individual Steering Velocity Controllermentioning

confidence: 99%

Path Tracking Control of Self-Reconfigurable Robot hTetro With Four Differential Drive Units

Shi

Elara

et al. 2020

IEEE Robot. Autom. Lett.

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The research interest in mobile robots with independent steering wheels has been increasing over recent years due to their high mobility and better payload capacity over the systems using omnidirectional wheels. However, with more controllable degrees of freedom, almost all of the platforms include redundancy, which are modeled using the instantaneous center of rotation (ICR). This paper deals with a Tetris-inspired floor cleaning robot hTetro which consists of four interconnected differential-drive units. Each module has a differential drive unit which can steer individually. Differing from most other steerable wheeled mobile robots, the wheel arrangement of this robot changes because of its self-reconfigurability. In this paper, we proposed a path tracking controller that can handle discontinuous trajectories and sudden orientation changes for hTetro. Singularity problems are resolved on both the mechanical aspect and the control aspect. The controller is tested experimentally with the self-reconfigurable robotic platform hTetro, and results are discussed.

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Section: B Second Layer: Individual Steering Velocity Controllermentioning

confidence: 99%

Path Tracking Control of Self-Reconfigurable Robot hTetro With Four Differential Drive Units

Shi

Elara

et al. 2020

IEEE Robot. Autom. Lett.

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“…The following method for calculating {T}'s momentary path is the one introduced in [22] and used in authors' previous work [23].…”

Section: A Target's Path and Orientationmentioning

confidence: 99%

Path Following Controller for Differentially Driven Planar Robots with Limited Torques and Uncertain and Changing Dynamics

Pitkanen

Halonen

Kemppainen

et al. 2019

2019 International Conference on Robotics and Automation (ICRA)

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This paper presents a path following controller that is suitable for asymmetrical planar robots with significant mass and limited motor torques. The controller is resistant against environmental forces, and inaccurate estimates of robot's inertia, by estimating their effects with Unscented Kalman Filter. The controller outputs wheel torque commands which take in account the motor torque limits and given relative priority of internal control elements. The method presented is thoroughly explained and the simulation results demonstrate the performance of the controller.

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Path following controller for planar robots with articulated, actuated and independently steerable velocity-limited wheels

Cited by 2 publications

References 18 publications

Path Tracking Control of Self-Reconfigurable Robot hTetro With Four Differential Drive Units

Path Tracking Control of Self-Reconfigurable Robot hTetro With Four Differential Drive Units

Path Following Controller for Differentially Driven Planar Robots with Limited Torques and Uncertain and Changing Dynamics

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