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.
This paper studies trajectory tracking control of unicycle-type mobile robots with longitudinal slippage in kinematic level. By introducing a parameter, called “Slipping ratio”, into the steering system, an adaptive controller different from [8] is designed. All the tracking errors are guaranteed to converge to zero asymptotically using the proposed controller. At the meantime, with some limitations...
This paper presents the development and trajectory tracking control of a nonholonomic mobile robot with differential drive. The used control system is composed of two loops cascaded, with internal PID controlling the speed of the two wheels and an external loop controlling the robot position and orientation. The second one is a feedfoward kinematics controller which is tuned according to desired closed-loop...
For the formation and obstacle avoidance problems of wheeled mobile robot, a multi-robot formation algorithm of trajectory tracking based on fabrication method is presented. First kinematics model is transformed into a chained form, and then through the canonical coordinate transform, the form error of the system is transformed into a series of nonlinear system, then Lyapunov function of the wheeled...
This paper addresses the validation of a localization technique for UHF-RFID tags, which is based on a synthetic-array radar principle. Differently from previous papers where rectilinear trajectories have been assumed, here the accuracy and effectiveness of the above low-cost RFID-based localization technique are studied for more complex non-rectilinear trajectories. As an example, results are shown...
This works treats the control problem of tracking the steering angle and the longitudinal velocity desired by the driver of a tilting 3-wheeled vehicle while keeping its tilt angle within a safety margin, so as to achieve safe and easy driving in closed-loop. A common practice in the literature is to determine the controller structure based upon reduced order approximate models of the vehicle. Here,...
The road curvature is an important characteristic, specially for systems tracking a target trajectory. However, in some cases, this value is not available and its dynamics is unknown and has to be estimated to be used by control. By considering vehicle lateral dynamics, the steering system and the Radar/Camera information, the standard Traffic Jam Pilot (TJP) system is presented. Current TJP solutions...
A flatness based robust active disturbance rejection control technique is proposed for the trajectory tracking problem of a special under-actuated system known as four-wheel-steering car. The under-actuated problem of such nonlinear coupled system consisting of three degrees of freedom is settled by exploiting its flatness property to obtain an input-output map. Active disturbance rejection control...
On the basis of a research project, the paper investigates vehicle trajectory estimation and prediction against the background of cooperative driving for the purpose of collision avoidance. For this reason, a low-cost single-frequency GNSS equipment is used and the vehicle state is processed applying Precise Point Positioning (PPP). Within a Kalman filter, the PPP solution is coupled with signals...
A trajectory tracking problem for wheels mobile robot is presented in this paper. The central concept is based on the kinematics model of a two degree of freedom wheeled mobile robot, the fractional calculus is designed in the Backstepping control method. Using the idea of fractional Backstepping, a time-varying fractional order trajectory tracking feedback control law is proposed by constructing...
Current and future vehicular active safety systems rely on situation interpretation algorithms for mapping sensor information of the environment to a criticality or threat value. In dangerous driving situations, these metrics are used to trigger a range of safety interventions from warning the driver, pre-tensioning of the braking system, automatic emergency braking, and automatic emergency braking...
This work focus on the application of Fuzzy-Backstepping controller, based on optimization method, for trajectory tracking problem. The control algorithm based on the errors in postures of mobile robot which feed to the Fuzzy-Backstepping controller to generate correction signals that transport to torque for each driven wheel. By means of dynamic model of mobile robot, these torques are used to compute...
For many navigation scenarios, it is known that the accuracy of navigation state estimates depends on the path traveled, particularly when access to external navigation aids such as the Global Positioning System (GPS) is not available. In this work, we present a path planning method that attempts to minimize the navigation uncertainty of a pair of autonomous vehicles traveling from known initial locations...
Various situations can force people to rely on wheelchairs to be able to move. Despite the fact that cities are more and more aware of the difficulties that wheelchair users have to deal with and despite their increasing concern to provide them a friendlier environment, the gap between non-disabled people and disabled people still exists. To improve their quality of live, enhancements can also be...
This article describes universal control system mainly for mobile robots with differential drive. The first section is introduction into the problem of mobile robotics and contains requirements on control system. Second section describes individual parts of designed control system focusing on motion control and in the last section is devoted to testing of designed control system on real mobile robot.
This research paper introduces a low cost technique to control an assistive wheel chair for people with neuromuscular impairment by using their brainwaves and eye blinks. This entire system is made wearable and functional in outside lab environment without requirement of technical expert. We are using cheapest (INR 6,800) available NeuroSky Brainwave Mobile (EEG sensor). Instead of using large number...
A chatter-free sliding mode controller employing only conventional sliding surfaces is proposed for trajectory tracking of a nonholonomic wheeled mobile robot. In one sliding surface, nonlinear state variable coupling is avoided by linearly combining two indirectly controlled states into a single aggregate variable. This greatly simplifies analysis compared to the case of sophisticated sliding surfaces...
This paper proposes a cooperative motion planning and redundancy resolution technique for a rover manipulator working on rough terrain in a 3-dimensional workspace. The primary motion requirement is accomplished by the manipulator to cover a prescribed trajectory, whereas the rover moves to augment its workspace. The proposed approach involves formulating the trajectory planning as non-linear constrained...
The rapid evolution of technologies makes it possible to create remote laboratory for research and educational purposes. This paper presents a testbed that can conduct experiments following commands from a remote client. It is a small-scaled intelligent transportation system (ITS) testbed which can collect data, perform configuration and control the radio-controlled (RC) car. The remote client can...
As a result of computational and experimental study the regularities of wear of the grinding wheel working surfaces in the process of double disk grinding of bearing rings ends have been established. Adequacy of mathematical and computer models has been confirmed by a satisfactory agreement of computer simulation results and experimental data. The established regularities have laid the basis for a...
Current technologies and methods for cutting pieces of a raw material, have a big limitation, and without despising its efficacy and precision, its scope and area of work limit the materials that are possible to manufacture in only process stage; This is a task of an area of research how to solve this disadvantage without losing the efficiency of the past technologies.
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.