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In order to navigate a robotic base in an unfamiliar environment, some mechanisms to detect positioning and location must be provided. When the base is in the process of navigation and makes use of these mechanisms, errors originating from the environment and base are inserted into the system, resulting in an erroneous position estimation. One relevant approach to reduce the error amplitude is to...
Autonomous electric vehicle path following area has known wide improvement during the last previous years especially with the appearance of new sophisticated control algorithms. The main focus of these control algorithms is to guarantee high performance in term of stability and path tracking with small distance error. In this research, an overview about the most common technics used in autonomous...
The purpose of this research is to develop a control strategy for a differential drive autonomous mobile robot. The robotic task is to move in a straight trajectory in the workspace despite powered by two non-identical electric motors. A developed controller was designed to control the rotational speed of the motors independently in order to achieve a straight trajectory of the motion despite the...
Shared control techniques have a great potential to create synergies in human-machine interaction for efficient and safe applications. However, an optimal interaction requires the machine to consider the individual behavior of the human partner. A widespread approach for modeling human behavior is given by optimal control theory, where the movement trajectories of a human arise from an optimized cost...
Autonomous Driving (AD) and Advanced Driver Assistance Systems (ADAS) are being vigorously developed for improving traffic safety and transportation efficiency. AD and ADAS need to provide smooth and comfortable driving experiences to drivers and passengers as well as accommodation of other traffic. Individual drivers have different driving styles. This paper proposes a driver-adapted narrow road...
This paper studies the velocity decision making problem for nonholonomic wheeled mobile agents under acceleration constrains. Given the attitudes and velocities information of nonholonomic wheeled mobile agent at start point (SP) and end point (EP), the date of motion trajectory is generated based on the cubic Bezier curve. Then, the decision of time optimal maximum allowable velocity trajectory is...
This study presents simulation results of nonholonomic mobile robot control with path planning which is based on Bézier Curves. The purpose of this paper is set to develop a simulation model for differential drive wheeled (DDW) robot by using MATLAB/Simulink environment. Fractional order PID structure is used to increase the tracking performance of DDW robot. Simulation results are compared for the...
In this paper is intended to control the entire flexible line using two wheeled mobile robot and two robotic manipulators. The mechatronics manufacturing line has no possibility of automatic feed with pieces and no automatic pickup of the scrap pieces from the storage station. The robotic manipulators are used for charging the buffer of the flexible line as well as emptying the storage station. These...
This paper deals with dynamic collision avoidance of multiple mobile robots by model predictive control (MPC). Each robot has the same control law based on an MPC problem which has constraints on avoidance of other robots. A numerical example shows that a robot can reach to a goal point from a start point while avoiding collision with another robot that follows its start and goal points.
In this paper a path tracking control for an autonomous vehicle is developed using the H∞ technique. The lateral control problem is reformulated as the control of two variables: the lateral error and the derivative of the look-ahead error, defined as the distance between a virtual point on the vehicle longitudinal axis in front of the CoG and the reference trajectory. This approach is based on the...
In this paper we address a problem of a non-slip castor wheel's impact on the control system of a tri-wheel mobile robot, which moves on a flat surface. We derive relations between the castor wheel's torsion angle and drive velocities and show results of controller's simulation, with and without the impact of the castor wheel.
This work implements two trajectory tracking control systems for a differential drive WMR (Wheeled Mobile Robot). The first control system employs an IO PD (Integer Order Proportional Derivate) controller, while the second uses a FO (Fractional Order) PD controller. The IO PD controller becomes a FO PD controller by making fractional the derivative term. That is, replacing the Laplace operator s by...
This paper investigates the finite-time tracking problem for nonholonomic mobile robots despite of unknown system disturbances. In the proposed tracking control, a novel sliding mode controller is given at torques level such that both the position and the orientation tracking errors convergence to zero within finite time. In particular, by employing the adaptive method during the robot's moving process,...
A bicycle is a useful vehicle in our daily lives, and requires characteristic techniques such as steering control at a constant speed. Since bicycles are commonly used like cars, analyzing their operating condition is essential. Nevertheless, there is little previous research that has succeeded in designing a low-cost method to analyze the operating condition. In the current study, we present a more...
For the omnidirectional lower-limb rehabilitation robot, a controller by using the acceleration and velocity information effectively of the target trajectory is proposed. The improved kinematics and dynamics model of the omnidirectional lower-limb rehabilitation robot with regard for centre-of-gravity shift are presented firstly. By including the acceleration and velocity information, the speed of...
This paper is focused on motion control of a nonholonomic car-like robot. The main idea of the proposed control method is based on an approximate decoupling of phase-constrained kinematics in order to imitate an omnidirectional robot. In order to facilitate the feedback design, the original kinematics is simplified and represented by a nilpotent homogeneous locally equivalent control system. Next,...
In this study, the motion of an inverted pendulum mobile platform is extended to omnidirectional motion. omnidirectional motion is implemented by a drive unit constructed from paired mecanum wheels. The mechanism of the omnidirectional drive unit replaces the two parallel wheels of the inverted pendulum mobile platform and extends its motion to an omnidirectional motion. The mechanism of the omnidirectional...
This article mainly presents a control method for an underactuated tractor-trailer vehicle, subject to the nonholonomic constraint, uncertain disturbance and various physical limits, which is aimed at receiving a good tracking performance. All in all, linear quadratic regulator (LQR) and model predictive control (MPC) are used to design the posture controller to make the midpoint of two parallel plating...
In this paper a hierarchically structured framework is proposed for the time-optimal trajectory planning and control of autonomous electric vehicles with state and input constraints for fixed test paths. The time-optimal reference signals are obtained by solving a dynamic nonlinear optimal control problem associated with the kinematic model of the vehicle using direct discretization and multiple shooting...
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...
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