The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The paper addresses the operational reliability and safety of automated guided vehicles along roadways. These operations most often require very tight integration of environmental sensing and vehicle dynamics control. This contribution relies on determining the relevant lane boundaries using conventional camera sensor and proposes a constrained longitudinal and lateral control strategy for fully automated...
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...
This paper presents a novel Local-Path Planning approach for an independent four-wheel steering (I4WS) mobile base. The approach smoothly drives and rotates the platform while still following a given path and avoiding obstacles. I4WS vehicles are omnidirectional vehicles, similar to shopping carts, if one neglects the time needed to steer the wheels. However, due to the danger of mechanical parts...
This paper presents two models for the generalized differential wheeled mobile robot where the origin of the frame of reference of the robot may be placed away from the center of the prolongation of the axes of the actuated wheels of the robot. One model relates the angular speeds of the actuated wheels with the posture of the robot. A position tracking control is exemplified via numerical simulations...
Omnidirectional mobile robots with four Mecanum wheels are used in various homes, military, nuclear power plant, industrial, hospital and space applications. A lot of research has been done using three universal wheels but trajectory control for four Mecanum wheeled mobile robot (FMWMR) in presence of uncertainties still needs attention. Thus, to obtain smooth motion of mobile robots, with chattering...
The reaction wheel stabilizer (RWS) concept for bipedal stabilization consists of a wheel that can be accelerated in order to impart a reaction torque on the rest of the biped. The beneficial effects of such a device (or emulation of such a device through limb motion) on transient body motions are not well understood. This work quantifies this phenomenon by comparing optimal trajectories for robots...
For manned drive for the rubber tram to track virtual tracks can easily lead to driver fatigue problems, on the basis of the visual navigation, an automatic steering control method based on the model predictive control is proposed. In the paper, Firstly, the automatic steering control principle based on visual navigation vehicle is introduced; then, the automatic steering predictive controller is...
This paper describes a novel methodology for programming grinding tool-paths, tool-path orientations and grinding strategies based on the captured trajectories of a surface finishing tool operated by the Skilled-Operator. In order to extract the grinding parameters and strategy from the trajectory of the skilled operator, the manual tool-path is first segmented into tool-path primitives. The order...
The crank wheel mechanism, consisting of a wheel mechanism and parallel links connected to each wheel, achieved high mobility and efficiency because it has both wheels and legs in a simple structure. However, each prior model of crank wheel mechanism has had shortcomings such as mass oscillation or fragile structure. In this paper, we propose a novel crank wheel mechanism, the “Eccentric Crank Rover”(ECR),...
In this paper the problem of posture stabilization for differential drive robots where there are constraints on the stabilization time and input control signals has been studied. Various methods have been developed for posture stabilization of differential drive robots, however, many of these methods cannot provide control over stabilization time. In this paper, a stabilizing controller is used to...
This paper describes the mechanism of a human-friendly robot. The robot consists of two arms, a body and a mobile base. An air cushion bag is developed to cover the entire exterior of the robot. It can reduce the generated impact forces in a collision between any part of the robot and a human. A passive collision suppression mechanism is also developed to deal with greater impact forces. The suppression...
Based on current technologies, automated driving systems needs the human driver to monitor the environment and the machine. One way to enhance the driver to watch the environment is to make him/her put his/her hands on the steering wheel. Under the condition that the human collaborates with the automation, it is important for the automation to be designed that the automation is trustworthy. One of...
Haptic steering technology has been developed to support drivers for more accurate and reliable vehicular control. This paper investigates the evaluation of steering performance when a haptic guidance steering system is implemented for passive fatigued drivers. The haptic system continuously produces torque on the steering wheel to inform drivers about the lateral lane deviations; consequently, drivers...
This paper develops a new compensation control scheme for two linked wheeled mobile robots with actuator failurs. First, a configuration of two linked two-wheel drive (2WD) mobile robots is described, and its kinematics and dynamics are modeled. Then, a multiple-model based control scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers...
In the paper new control algorithm for skid-steering mobile platforms has been presented. This control law is based on mathematical model of such object. In the model it has been assumed that wheels of the skid-steering platform are not coupled by tracks and that they can move without some slipping effects, namely with lack of longitudinal slipping of selected wheels and lack of lateral slipping of...
This paper presents a systematic method to build the kinematic model and dynamic model of a nonholonomic wheeled mobile robot (WMR) with longitudinal and lateral slip, followed by the design of a control law using the input-output feedback linearization method to drive the mobile robot to track a given trajectory while longitudinal, and lateral slip exist. The asymptotical stability of the system...
A novel modular ground robotic system is proposed for the purpose of cooperative manipulation and transportation of rigid payloads in two dimensions. The proposed design consists of a set of identical holonomic robots equipped with a lifting mechanism that can be rigidly attached to a desired payload. Once attached, the robot-payload system becomes holonomic and the payload can be transported by the...
This paper presents a comparison of optimization for vehicle steering controls system simulation using several Artificial Intelligence (AI) for optimizing Proportional Integral Derivative (PID) control parameters to suppress errors on lateral motion and the yaw motion of vehicles. This paper compares five kinds of tuning methods of parameter for PID controller, among other are Firefly Algorithm (FA),...
In this paper, a new omnidirectional Automated Guided Vehicle (AGV) system is designed. In mechanical structure, differential MY3 wheel is installed on the chassis which can achieve the parts transportation with maximum load 50kg. In control system, the real-time processor and FPGA are used to ensure the real-time system. The infrared module and the ultrasonic range-finding module are installed to...
This paper deals with automation in navigation of differential drive robots in workspaces like offices, restaurants, etc. by mapping the entire workspace onto the robots in the form of a fixed reference co-ordinate frame which can then be used for position control and navigation. Generally, co-ordinate based navigation means a predefined path and correcting the robot on each point along its trajectory;...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.