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In this paper, the control scheme of a co-axial two-wheel mobile robot by human operation is developed. Two joysticks are introduced considering easy and intuitive operation for the user. Common and differential mode of the tilt angle of joysticks correspond to translational and rotational motion respectively. In order to control translational motion of a two-wheel mobile robot, two kinds of controller,...
Kinematic models for skid-steer vehicles based on the locations of instantaneous centers of rotation (ICRs) of treads have been useful for motion control and dead reckoning. These models have typically assumed constant track ICRs because actual ICRs remain in bounded regions. However, this assumption neglects tread ICR variations during motion caused by dynamics. This paper analyzes the effect of...
Differential drive mobile robot (DDR) is one type of wheeled mobile robots with a specific wheel configuration where two fixed wheels are controlled by the motors and a castor wheel is added to mechanically support its movements. For tracking purposes, the controller and the motors play a very important role to ensure it does not deviate far from targeted locations or path. As most motors exhibit...
This paper presents an implementation and an experimental validation of a virtual structure and a leader-follower flexible formation tracking controllers for car-like non-holonomic mobile robots with velocity and steering controllers in the loops. The formations are flexible in the sense that their formation configurations are defined based on curvilinear longitudinal and lateral relative separations...
This paper investigates the leader-follower tracking control problem for non-holonomic mobile robots based on fuzzy controller based approach. The trajectory tracking control for a single mobile robot is extended to the formation control for multiple mobile robots. This paper proposes for enhancement the follower performance, interval fuzzy type-2 controller is used. By taking the simulation and simple...
This work presents theoretical and experimental investigations on an untethered rolling tensegrity robot. Previous research has shown, that rolling locomotion of compliant tensegrity robots can be realized without change of their shape, by using only internal mass shifting. The use of simple tensegrity structures, based on curved compressed members enables pure rolling locomotion in contrast to the...
Mobile robots are remarkable cases of high development technology and systems. Robot community developed a complex analysis to meet the increased demands for the control challenges for the movement of Robot. A model predictive control (MPC) approach is used in combination with feedforward Controller in a context of decoupling controller. Implementation of this algorithm in the ROS system is presented...
This paper presents a simple adaptive tracking control approach for wheeled mobile robot(WMR) with unknown parameters, as well as actuator dynamics. A robust adaptive controller is developed for WMR, which can not only compensate uncertainties in kinematic and dynamic model as well as actuator dynamics uncertainties, but also make WMR have a better performance of tracking desired trajectory. Moreover,...
This paper presents a design and stability analysis of a crawler-type pipeline robot which has the radial adjustment ability and can adapt to the changing of pipe diameter, therefore the environment adaptability of the robot is improved. To analysis the motion stability of the robot, the posture model of the robot that works in different pipes, including elbow and straight pipe are established, some...
In this paper, a novel assembling omni-directional mobile robot is designed for assemble work and adapting to confined space in the automated factories. In order to complete the assembly operation tasks more precisely, a new trajectory tracking method based on infrared array module is proposed in the control system of the robot. The different patterns of the infrared array and trajectory width are...
This paper addresses the formation tracking control and optimal selection of control design parameters for a tractor-trailer omni-directional type robotic system with on-axle hitching. We design a sliding mode controller incorporating the dynamics of the system to drive the tractor robot to track a desired trajectory and the trailer robot to maintain a desired orientation with respect to the tractor...
Mobile robotics is a notable case of high evolution. The robotics community has developed sophisticated analysis and control techniques to meet increasing requirements on the control of motions of mechanical systems. These increasing requirements are motivated by higher performance specifications, an increasing number of degrees-of-freedom. This contribution proposes a controller for motion of the...
A wheel-track hybrid mobile robot with multimotion modes is designed. It is composed of a robot central body, four driving mechanisms, four independent track arms, two differential wheels, two guide wheels and so on. According to different environments, it can switch between the pure wheel mode and the pure track mode. A stability pyramid is defined by using a quasi-static model. The process of climbing...
This paper introduces the design and experiments of a gas tracking algorithm, named a circular movement algorithm, which is for natural indoor environment without a strong and constant wind. A graph of gas concentration shows tumultuous flow under the condition [8]. To solve the turbulent gas concentration problem, we defined cumulative-gas concentration (CGC) value to compute gradient of gas concentration...
This paper describes pipelines tracking robot on ground which detects magnetic filed from underground pipelines. This system has the advantage that can ensure a more objective data as compared with the measuring method by a person. The pipeline tracking robot has differential drive type base and one passive wheel which has suspension function. The robot has two magnetic strength detect sensors and...
In this paper, we present an integrated approach for path planning and control for autonomous mobile robots. Typically, path planners pass on the trajectory coordinates to a motion controller that controls steering or curvature of the autonomous robot. However, these approaches ignores the smoothness of trajectory or staying on the path at different times. Our proposed system is a novel approach,...
Environment in some special areas of nuclear power plant is very bad, and is even worse and inaccessible after a nuclear accident. Therefore, a robot developed for special occasions of nuclear plant operation is urgently needed. Different from ordinary robots, nuclear industry robots face even worse environments, such as high radiation, high temperature, high pressure, narrow space, slopes, stairs,...
In this paper we propose a novel method for estimating rigid body motion by modeling the object state directly in the space of the rigid body motion group SE(2). It has been recently observed that a noisy manoeuvring object in SE(2) exhibits banana-shaped probability density contours in its pose. For this reason, we propose and investigate two state space models for moving object tracking: (i) a direct...
From the times of the British raj to this date, scavenging rail tracks has been a puzzling social issue. The fact that humans have to clean human waste and other garbage thrown on rail tracks is a situation that needs immediate remedy. Manual scavenging is done now-a-days, owing to the peculiar nature of the job, and many who are engaged for this job suffer from related health problems. The prevailing...
Mobile Robots are robots that can move from one place to another autonomously, ie. without external human assistance. Proper control methods are to be used for autonomously controlling the motion of these robots. As these robots are to be utilized in real-world situations, the controller used should be promising and robust in nature. In this paper, the tracking control of a Non-holonomous Differential...
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