The path‐tracking controller based on dynamic model with slip for one four‐wheeled OMR

Abstract

PurposeThis paper aims to propose a suitable motion control method for omni‐directional mobile robots (OMRs). In RoboCup competition, the robot moves in a dynamic and oppositional environment, which occurs with high acceleration and deceleration motion frequently, especially for our OMR that slipping is almost inherently encountered in motion. Therefore, the purpose of this paper is to present one improved dynamical model with slip, and then to propose one suitable path‐tracking controller based on it, which gives more accurate control result.Design/methodology/approachA dynamic modeling method for OMRs based on the theory of vehicle dynamics is proposed. By analyzing the wheel contact friction forces both in the wheel hub rolling direction and in the roller rolling direction, an amendatory dynamics model is presented. This model is introduced into the computed‐torque‐like‐controller (CTLC) system to solve the path‐tracking problem.FindingsAn amendatory dynamics model with slip is analyzed and introduced into the CTLC system to solve the path tracking problem for OMR in this paper. The anti‐disturbance ability and the trajectory tracking effect of the proposed motion control method are proven through simulations and experiments.Practical implicationsThe proposed path tracking control method based on one improved dynamic model with slip is applied successfully to achieve effective motion control for one four‐wheel OMR, which is suitable for any kind of OMR.Originality/valueOne amendatory dynamics model including slipping between the wheels and ground is presented. Based on the above‐slipping model, one CTLC is implemented to solve the path‐tracking problem for one four‐wheel OMR.

Criteria of Motion Without Slipping for an Omnidirectional Mobile Robot

“…Then it is necessary to give a special form to its surface to ensure constancy of contact as the contact of the rotating wheel with the ground changes from one roller to the next [7]. Review of relevant publications suggests that in practice the omnidirectional robots whose rotational roller axis lies in the plane of the wheel rim are usually used as educational complexes and for various robotic competitions [8][9][10], whereas robots with Mecanum wheels are used as transportation and manipulation mobile robots, for example, for handling large-size objects [11].…”

Robust trajectory tracking control of omni-mobile robot with slipping of the wheels

“…В работах [13]- [14] построена нелинейная модель четырехколесного мобильного робота, учитывающая действие сил сухого и вязкого трения, и предложен закон управления для такой модели. Динамическая модель омни-мобильного робота, учитывающая проскальзывание колес, построена в [15].…”

A new path tracking approach for a mobile robot under velocity field

“…Recently, path tracking of mobile robots has attracted considerable attention in the field of industrial and service robotics [1,2] . Various methods have been proposed for this problem, such as dynamic feedback linearization [3] , adaptive control [4] .…”