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.
A novel approach for combined trajectory planning and control is presented in this contribution. The developed method integrates optimal control theory and trajectory planning and leads to an active safety system, which is applicable for automated driving and can avoid collisions in critical situations. The Combined Planning and Control (CPC) algorithm extends the Timed Elastic Band (TEB) approach...
One serious problem in autonomous mobile robot is the accurate and effective following of an unknown path traced in the environment in compliance with the kinematic limits of the vehicle, i.e., bounded linear and angular velocities and accelerations. In this case, the motion planning must be implemented in realtime and must be robust with respect to the geometric characteristics of the unknown path...
Electric Vehicles (EVs) are deemed as an appealing and practical solution for environmental and energy problems. The mileage per charge of EVs, however, is shorter than the mileage of Internal Combustion Engine Vehicles (ICEVs). In this paper, Range Extension Autonomous Driving (READ) system considering road gradient information is proposed. The proposed system optimizes the velocity trajectory and...
Advanced driver assistance systems (ADASs), such as parking assist, are widely used. ADASs have successfully reduced driver’s workload. On the other hand, it is thought that it is important to improve the skill of the driver. The present study aims to establish a methodology for using an ADAS to achieve compatibility between decreasing the driver’s workload and increasing the driver’s skill. The present...
Coordination between a specific mobile robot types has been widely investigated, e.g coordination between unicycles. To extend the applicability of the system, coordinated trajectory tracking of mixed type of mobile robots is considered. We extend and prove the concept that if a certain type of wheeled mobile robot is able to individually track its own references, then coordination in tracking with...
A novel approach for formation control of differential-drive mobile robots is presented in this paper. The control design is done in the framework of functionally related systems. Functionally related systems are the systems that are ‘virtually’ interconnected. The term ‘virtually’ denotes the situation in which the states or outputs of otherwise separated systems are functionally related to each...
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...
Cyberphysical systems, with their interdependence between physical behaviour and digital control, need insights from frequency domain control engineering, state space control engineering and discrete formal systems theory for their proper description. Neglecting any of these, results in descriptions that omit essential details. Hybrid Event-B is a formalism that enables all the relevant detail to...
This paper describes the development of several controllers to handle a trajectory tracking problem for a differentially wheeled robot. Both simulations and tests on a real robot were performed. A simple kinematic controller has been implemented to calculate desired velocities based on current position and trajectory. In order to also consider the current velocities, i.e. the dynamics of the system,...
In this paper, a new approach of the super twisting sliding mode control of nonholonomic mobile robot system is proposed. Computer simulations and real time implementations are performed on a real mobile robot (Pioneer-3DX) with parameter uncertainties and external disturbances. The simulation results and real experiments have shown the improved performance of the proposed controller in terms of a...
Large debris created after natural disasters restrict access to inner parts of affected regions and slows down disaster relief operations. Power shovels are often used to clear wreckage but the process can take a lot of time. Moreover, it is dangerous to involve human workers in such conditions due to loose debris collapsing and causing severe damage. To speedup access to inner areas, instead of removing...
In this paper a unified motion control and planning algorithm dedicated for the waypoint following task realized by a skid-steering is presented. In order to reduce excessive slip effects between robot wheels and ground it is assumed that the vehicle moves with bounded velocities and accelerations. The motion controller has been designed using formal methods to ensure asymptotically stable tracking...
This paper presents an approach to estimate the energy consumption of an omnidirectional Automated Guided Vehicle (AGV) equipped with four Mecanum wheels for any given trajectory. We derive an energy model for such a robot using experimental data, and perform the estimation by applying the trajectory's translational and rotational velocity profiles to it. These profiles are given as the output of...
Autonomous and semi-autonomous smoothly interruptible trajectories are developed which are highly suitable for application in tele-operated mobile robots, operator on-board military mobile ground platforms, and other mobility assistance platforms. These trajectories will allow a navigational system to provide assistance to the operator in the loop, for purpose built robots or remotely operated platforms...
By combining the Polar Histogram obstacle avoidance method, a leader-follower coordination formation control algorithm is proposed to solve the formation control problem of multiple mobile robots. Based on the formation control in leader-follower structure, a virtual-follower robot is introduced, and the formation control problem can be regarded as the follower robots tracking the virtual-follower...
This paper presents a simple algorithm for controlling robot trajectory that accounts for the torsion angle of a castor wheel. We identify the dynamics of the castor wheel as a plant of the second order inertia and then we successfully apply this information in the PWM (Pulse Width Modulation) regulator.
One focus of current vehicle research is on the development of evasive pedestrian protection systems. Such safety systems avoid an imminent collision with a pedestrian by performing an evasive maneuver autonomously within the lane. For this purpose, a new lateral control scheme is proposed in this paper. The main idea is to ensure a lane-keeping evasive maneuver exploiting the free space optimally...
Based on the working condition of a certain heavy truck turning right, the security pre-warning for pedestrians and other low-speed objects is chosen as the research object. Firstly, the vehicle dynamics model of twodegrees- of-freedom is established, the vehicle-related parameters under different load conditions are selected, according to the vehicle trajectory, the no-load condition is determined...
A new model-free setting and the corresponding “intelligent” P and PD controllers are employed for the longitudinal and lateral motions of a vehicle. This new approach has been developed and used in order to ensure simultaneously a best profile tracking for the longitudinal and lateral behaviors. The longitudinal speed and the derivative of the lateral deviation, on one hand,...
This paper describes the design, programming, and construction of a battery operated autonomous Segbot. The Segbot, a two wheeled robot, has some similarities to the inverted pendulum cart system in that it is underactuated, exhibits non-minimum phase behavior, and requires a stabilizing controller to stand upright. The Segbot differs from the inverted pendulum cart system in that the dynamics are...
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.