Path Manifold-based Kinematic Control of Wheeled Mobile Robots Considering Physical Constraints

Kim, Youngshik; Minor, Mark A.

doi:10.1177/0278364907081231

Cited by 23 publications

(43 citation statements)

References 21 publications

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“…Since this paper focuses on kinematic motion control algorithms that can produce references for the dynamic controller (Zhu et al 2007) as discussed in Section 1, traditional servo-type wheel controllers are used to drive the robot. Odometry data are simultaneously fed back to both kinematic and wheel controllers in a cascade connection as presented in Kim and Minor (2007) and Zhu et al (2007). Further, in order to present the experimental results precisely, the actual final postures are manually measured using the Cartesian coordinates established on the workspace.…”

Section: Methods and Proceduresmentioning

confidence: 99%

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Distributed Kinematic Motion Control of Multi-Robot Coordination Subject to Physical Constraints

Kim

Minor

2009

The International Journal of Robotics Research

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This paper presents a kinematic motion control strategy for an n-axle Compliant Framed Modular wheeled Mobile Robot (CFMMR).This robot is essentially a passive-joint active-wheel snake robot where coordinated motion of the robot modules is critical for maximizing mobility and minimizing traction forces. A distributed master-slave kinematic motion control structure is proposed where the front axle module of the robot is the master and subsequent axle modules are slaves. An existing path manifold based controller is used to guide the motion of the master. Two steering algorithms with different specializations are then proposed for the slave modules. Performance of the steering algorithms is characterized based upon their capability to reduce traction forces, control final robot posture, and maneuver in a limited space. It is shown that these algorithms satisfy the physical constraints of the robot, which are characterized by path curvature and velocity limitations. Simulation and experimental results validate and characterize the performance of the algorithms.

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Section: Methods and Proceduresmentioning

confidence: 99%

“…This is resolved by extending the controller dynamics in a cascade fashion following Theorem 19.2 of Bacciotti (1991). More details on the derivation and proof of this control law can be found in Kim and Minor (2007).…”

Section: Global Master Controller On Axlementioning

confidence: 99%

Distributed Kinematic Motion Control of Multi-Robot Coordination Subject to Physical Constraints

Kim

Minor

2009

The International Journal of Robotics Research

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“…(1) 때문에 모바일 로봇의 모션 제어 (2,3) 와 센서 융합에 대한 연구 (4) 가 활발히 진행되고 있다. 특히 모바일 로봇의 정확한 위치 인식과 정밀한 모션 제어를 위해 칼만 필터 등의 기법을 이용한 센서 융합기술이 많이 연구되고 있 다.…”

Section: 서 론unclassified

Kalman Filter-based Sensor Fusion for Posture Stabilization of a Mobile Robot

Jang¹,

Kim²,

Kyoung³

et al. 2016

Transactions of the Korean Society of Mechanical Engineers A

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서 론모바일 로봇은 현재 많은 연구자들이 관심을 갖 고 있는 연구 주제이다.( Abstract: In robotics research, accurate estimation of current robot position is important to achieve motion control of a robot. In this research, we focus on a sensor fusion method to provide improved position estimation for a wheeled mobile robot, considering two different sensor measurements. In this case, we fuse camera-based vision and encodebased odometry data using Kalman filter techniques to improve the position estimation of the robot. An external camera-based vision system provides global position coordinates (x, y) for the mobile robot in an indoor environment. An internal encoder-based odometry provides linear and angular velocities of the robot. We then use the position data estimated by the Kalman filter as inputs to the motion controller, which significantly improves performance of the motion controller. Finally, we experimentally verify the performance of the proposed sensor fused position estimation and motion controller using an actual mobile robot system. In our experiments, we also compare the Kalman filterbased sensor fused estimation with two different single sensor-based estimations (vision-based and odometry-based).

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“…6. A similar approach using circular path manifolds in a more general framework has been found in [20], whereas the use of clothoids is proposed in [21].…”

Section: Arc Path Following Controllermentioning

confidence: 99%

Four path following controllers for rhombic like vehicles

Silva¹,

Baglivo

Vale³

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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Abstract-This paper addresses the path following problem of a wheeled mobile robot with rhombic like kinematics (two drivable and steerable wheels) operating in cluttered environments. Four path following controllers are developed to steer the kinematic model of a rhombic like vehicle (RLV) along a desired path: three are based on feedback laws derived at a kinematic level with geometrical inspiration; the fourth is a nonlinear controller built upon a kinematic model of the vehicle using Lyapunov functions. By fully exploiting the kinematic capabilities of this type of vehicles, all the developed controllers are capable of performing under two situations: when both wheels follow the same path, or when each wheel follows a different path. Simulated and experimental results are presented in the paper to illustrate the performance of the controllers. The main conclusions of these controllers are summarized, leading to a possible application in the vehicles that will operate in the remote handling missions of the International Thermonuclear Experimental Reactor (ITER).

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Path Manifold-based Kinematic Control of Wheeled Mobile Robots Considering Physical Constraints

Abstract: Abstract

Cited by 23 publications

References 21 publications

Distributed Kinematic Motion Control of Multi-Robot Coordination Subject to Physical Constraints

Distributed Kinematic Motion Control of Multi-Robot Coordination Subject to Physical Constraints

Kalman Filter-based Sensor Fusion for Posture Stabilization of a Mobile Robot

Four path following controllers for rhombic like vehicles

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