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Kinematic and dynamic models of a mobile robot type Ackerman are developed in this paper, with the aim of implement a control system of trajectory tracking and we applied to the experimental platform of the HUMMER H2 mobile robot. For this purpose the predictive control is applied to dynamic model of the vehicle, to simulate its real plant response, considering the forces in the environment. On the...
Model Predictive Control (MPC) is a control strategy that uses an explicit model of a process to optimize the performance of the system. This paper describes the design of MPC controller for a Two Wheeled Inverted Pendulum (TWIP) considered as an underactuated and nonlinear system. By using a decoupling unit, TWIP can be controlled independently by two MPC controllers. Due to the feed forward control...
This work deals with the development of an autonomous positioning system for mobile robots from RSSI values obtained in real-time of a RFID reader, and treated by an Extended Kalman Filter.
The process that use automatic guided vehicle (AVG) in its architecture suffer with the lack of flexibility of some of these devices. The control, navigation and interaction with the working inviroment of AGV are indispensable processes for material handling in a Flexible Manufacturing System. The prospect of using an optical sensor as an economical yet efficient alternative sensor for AG navigation...
The path following problem for autonomous vehicles (AVs) is investigated in this paper. The desired value of the vehicle heading is commonly chosen as the tangent direction at the orthogonal projection point of vehicle CG (center of gravity) on the desired path. This paper points out that the traditional definition of the desired heading may deteriorate the path following performance, especially when...
In this paper, we develop an elaborate three-dimensional dynamical model for a novel single-actuator variable-diameter differentially-driven robot by taking recourse to Lagrangian formulation. Utilizing this model, we were able to analyze the various parameters and develop design tools that could be used in realizing such a robot with certain motion requirements. Given the single actuator design that...
This paper addresses the problem of accurate and reliable path following of a heavy industrial mobile robot evolving with centimetric accuracy requirement. For this purpose sliding estimation is a crucial issue, even more in off-road context with uneven and slippery terrains. So, we focus on position and sliding observers design in function of the distance covered, thus allowing to carry on maneuvers...
In this paper, we tackle the problem of trajectory tracking for Skid-Steering mobile robots. Two strategies of kinematic modeling of the Skid-Steering mobile robot are considered. The controllers are designed based on Sliding Mode scheme to asymptotically stabilize the tracking errors in surge, sway and heading for different reference trajectories. The study on circular trajectory and on a straight...
In this article, using the kinematics model of a car-like vehicle with front-wheel driving we address the path-following problem on the Cartesian plane. Adopting a dynamic inversion approach we determine initial conditions and the steering input in such a way that a front point of the vehicle exactly follows a pre-specified Cartesian path. Motivation for this special motion planning problem arises...
Presented paper presents ARM mbed microcontroller usage as a control unit in student's autonomous convoy project. The ARM mbed devices are based on 32-bit ARM Cortex-M microcontrollers and are widely used for a number of students and science projects. Proper selection of appropriate HW platform is typical issue, especially nowadays when students can choose from many different and low-cost platforms...
In this research, Auto-parking path planning system for an autonomous vehicle is developed. Reeds-Shepp curve algorithm make shortest path with the vehicle minimum turning radius and straight line from start point to goal point. In Reeds-Shepp curve algorithm total 48 path formulas are existed but these formulas are limited in actual parking lot. Because Reeds-Shepp curve path are valid in open environment,...
This paper describes a path planning method for mobile robots/vehicles be extending the path sequentially. Considering practical use and applications of the mobile robot/vehicles, additional via-points for future path are given sequentially from sensor processing and environment recognition process. Thus, the path should be calculated sequentially with such additional conditions during mission execution...
This paper describes the development of Potential Field (PF) method which is implemented in multi cooperative autonomous vehicle with a case study in robotic soccer. This method, called Double Target Potential Field (DTPF), increase the effectiveness of the vehicle movement to achieve the goal of passing the ball and kicking the ball into the goal. This research was conducted by simulating robot movement...
We formulate the problem of wheeled mobile robot (WMR) modeling under wheel slip, while moving over rough terrain, as the integral of a differential algebraic equation (DAE) of either first or second order. That is, the elements of the model include both differential equations and kinematic constraints. While such a formulation is typical of Lagrangian dynamics in augmented form, we show how identical...
Collaborative autonomous vehicles will appear in the near future and will transform deeply road transportation systems, addressing in part many issues such as safety, traffic efficiency, etc. Validation and testing of complex scenarios involving sets of autonomous collaborative vehicles are becoming an important challenge. Each vehicle in the set is autonomous and acts asynchronously, receiving and...
The automatic launch and recovery of an AUV from a USV presents a challenging control problem because control parameters are chosen based on the dynamics of the vehicle, which can change abruptly and significantly when an AUV is jettisoned or docked. Tight control of the vehicle state is required to conduct an underway recovery, with looser requirements for the launch. Experimental testing of an unmanned...
In this paper, a reduced order model of dynamic and drive models augmentation of a skid steering mobile robot is presented. Moreover, a Linear Quadratic Regulator (LQR) controller augmented with a feed-forward part is designed for controlling this reduced order model. The controller is simple in terms of design and implementation in comparison with complex nonlinear control schemes that are usually...
Recently, personal vehicles have received a lot of attention to expand our mobility for low carbon society and diversification of individual mobility. So far several small vehicles have been developed. However a new thesis of designing and controlling personal vehicles is required, because there are some difference between general vehicle-used environment and personal vehicle-used environment like...
We formulate a graph rigidity-based, adaptive formation control law for multiple robotic vehicles moving on the plane that explicitly accounts for the vehicle dynamics while allowing for parametric uncertainty. We consider a class of underactuated vehicles modeled by Euler-Lagrange-like equations of motion. The control is designed via backstepping while exploiting the structural properties of the...
This paper shows that a comprehensive multivariable approach of autopilot design that mixes sliding mode and PID leads to robustly satisfactory results for underwater mobile robot. The 6-DOF linear equations of motion can be divided into three subsystems for speed control, steering, and diving. The sliding mode algorithm is designed for steering control and PID is used for diving and speed control...
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