Path-generating regulator along a straight passage for two-wheeled mobile robots

Yang, Bo; Hanajima, Naohiko; Yamamoto, Atsushi; Ayamura, Mototada; Dai, Jun

doi:10.1109/iros.2013.6697054

Cited by 2 publications

(3 citation statements)

References 15 publications

(17 reference statements)

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“…Path Functions for Straight Passage. The family of path functions for a half-side of straight passage is defined as the following formula from reference [11]:…”

Section: Mathematic Modelmentioning

confidence: 99%

“…where is a small positive constant. To avoid division by zero in computer calculation of (10) and (11), when the value of is around 0, 1 or 2 and the speed command 1 need to be nonzero value.…”

Section: Mathematic Modelmentioning

confidence: 99%

“…These tracks can be seen as they consist of straight lines and arcs. Recently, the PGR has been extended to path tracking problem along straight passage for two-wheeled robots [11] and the validity has been verified by simulations and experiments. Therefore, we further investigate the PGR and the improved PGR with adjustable look-ahead algorithm to track the circle/arc passage in this paper.…”

Section: Introductionmentioning

confidence: 96%

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An Improved Path-Generating Regulator for Two-Wheeled Robots to Track the Circle/Arc Passage

Dai

Hanajima

Kazama

et al. 2014

Mathematical Problems in Engineering

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The improved path-generating regulator (PGR) is proposed to path track the circle/arc passage for two-wheeled robots. The PGR, which is a control method for robots so as to orient its heading toward the tangential direction of one of the curves belonging to the family of path functions, is applied to navigation problem originally. Driving environments for robots are usually roads, streets, paths, passages, and ridges. These tracks can be seen as they consist of straight lines and arcs. In the case of small interval, arc can be regarded as straight line approximately; therefore we extended the PGR to drive the robot move along circle/arc passage based on the theory that PGR to track the straight passage. In addition, the adjustable look-ahead method is proposed to improve the robot trajectory convergence property to the target circle/arc. The effectiveness is proved through MATLAB simulations on both the comparisons with the PGR and the improved PGR with adjustable look-ahead method. The results of numerical simulations show that the adjustable look-ahead method has better convergence property and stronger capacity of resisting disturbance.

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“…Path Functions for Straight Passage. The family of path functions for a half-side of straight passage is defined as the following formula from reference [11]:…”

Section: Mathematic Modelmentioning

confidence: 99%

Section: Mathematic Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 96%

See 1 more Smart Citation

An Improved Path-Generating Regulator for Two-Wheeled Robots to Track the Circle/Arc Passage

Dai

Hanajima

Kazama

et al. 2014

Mathematical Problems in Engineering

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Path-generating regulator for a car-like robot navigation considering necessity of observation

Otani

Hanajima

Yoshida

2017

Transactions of the JSME (In Japanese)

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In this study, we discuss a problem to collect observation data with one mobile robot in extensive investigation field.When the measurement of observation data is carried out by the mobile robot, the setting of running-path and navigation are important for appropriate measurement. Usually reciprocating straight paths at even interval are employed to collect data with spatially uniform density. However it is possible that some area between the straight paths requires detailed measurement. The method proposed in this paper makes it possible that in ordinary situation the robot follows the straight path, in the proximity of the area with need of observation it leaves the straight path toward the area, after that returns to the preceding straight path. Recently the path-generating regulator (PGR) has been applied to a tracking problem along a straight passage for car-like robots. The PGR is a control method for a vehicle so as to orient its heading toward a tangent to one of the curves belonging to a family of path functions. In this paper, we append a property to the PGR tracking the straight passage to modify the target heading angle in accordance with necessity of observation and to realize the motion toward the area with need of observation. To confirm the efficiency of the proposed method, two types of simulations are performed. The first simulation shows how a level of necessity of observation and a range to the area changes the locus of the mobile robot. In the second simulation, the mobile robot is satisfactorily guided by the level of necessity of observation obtained from actual measured data in a survey site.

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Path-generating regulator along a straight passage for two-wheeled mobile robots

Cited by 2 publications

References 15 publications

An Improved Path-Generating Regulator for Two-Wheeled Robots to Track the Circle/Arc Passage

An Improved Path-Generating Regulator for Two-Wheeled Robots to Track the Circle/Arc Passage

Path-generating regulator for a car-like robot navigation considering necessity of observation

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