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A method is presented that approximates the solution to a nonlinear optimal control problem with quadratic cost function.We assume that the nonlinear system is accurately represented by a high-fidelity (hf) model which can be of high complexity or even of “black-box” type. The hf-model is oftentimes unsuitable for solving the optimal control problem. The proposed solution method is based on an Iterative...
This paper presents a hierarchical approach to feedback-based trajectory generation for improved vehicle autonomy. Hierarchical vehicle-control structures have been used before—for example, in electronic stability control systems, where a low-level control loop tracks high-level references. Here, the control structure includes a nonlinear vehicle model already at the high level to generate optimization-based...
This paper presents a new controller for prevention of unintended roadway departures using model predictive control (MPC). The uncertainty with the driver's behavior is taken into account as the Gaussian disturbance. Correspondingly, we impose a lower bound on the probability of the vehicle remaining within the lane. Using current information of the vehicle and predicted steering of the driver, a...
We propose a trajectory tracking control algorithm for a vehicle with a large sideslip angle. The proposed algorithm was designed on the basis of a vehicle's planar motion using a four-wheel vehicle model. The proposed algorithm controls the vehicle's position and attitude by integrating the motion control algorithm for a vehicle with a large sideslip angle into the trajectory tracking algorithm for...
The kinematic model of a wheeled mobile robot is considered to be not very accurate; this imprecision is due to several uncertain geometric parameters expressed in the form of scale factors. Naturally, these geometric uncertainties have an adverse influence on the output computed using this kinematic model. In this paper, the imprecise inverse kinematic model of a wheeled mobile robot is studied in...
In this paper we propose a new method to tackle the problem of discontinuous curvature observed in the time-optimal Dubins trajectories of car-like robots. The discontinuous curvature profile renders the paths untraceable by a real robot due to the existence of infinite accelerations at the transition points. To make way for a continuous curvature profile, we relax the idealized nonholonomic constraint...
Motion planning for the autonomous bicycles offers considerable challenges to the area of robotics due to the platform's nonholonomic, underactuated and nonminimum-phase properties. Instability and nontrivial dynamic coupling make the motion planning of the bicycles a rather complex task. In this paper, the motion planning for the autonomous bicycle is formulated as a dynamic constrained optimization...
In this paper, we extend our previous work to introduce a vision-based path coordination method for multiple mobile robots with four steering wheels to avoid mutual collisions, so that the generated paths are always in the visibility range of the overhead camera. The proposed algorithm generates the synchronized trajectories for all wheels belonging to each mobile robot, with respect to its inertial-frame,...
There is a large body of literature studying problems such as consensus, flocking, or formation control of multi-agent systems using simple dynamic models, such as first-order integrators. This raises the question of how to implement such results on nonholonomic mobile robot platforms, for example, differential-drive or unicycle-type robots. Since the nonholonomic constraints must be taken into account...
Dexterity in human hand is connected with the fingertip rolling ability. Controlling the rolling motion of a spherical robot's tip upon a contacted surface is in this work addressed by solving the control of a wheel's rolling motion, moving upon the robot tip's line path. A model free prescribed performance controller of low complexity is proposed guaranteeing the wheel's rolling under any surface...
This article is focused on the trajectory tracking using a hybrid terrestrial aerial vehicle. An integral backstepping control is proposed for the UAV vehicle mode. In addition, a nested saturation control is developed and applied to regulate the position of the cart vehicle. These control laws are validated by simulations and some experimental results on position control was performed by applying...
Aiming at traffic jams and potential traffic danger and other traffic problems at present, research on trajectory following control based on vehicle to vehicle communication on automatic drive is conducted. Through a simple and accurate vehicle kinematical model, it analyzes the state space of system, establishes model-based system state equations, combined with constraint conditions of practice and...
In the recent years sensor networks have emerged as an effective tool for monitoring environments that are large in size and have complex topology. They have been successfully applied to solve various problems such as monitoring of different environmental indicators, detection of floods and fires, temperature control in office buildings, to collect information about the health status of hospitalized...
In this paper we propose a linear time-invariant (LTI) state feedback operator for nonholonomic mobile robots to track a pre-defined trajectory on a 2D planar region. Designing an on-line smooth state feedback control law is still among the major challenges for solving the trajectory tracking problem of nonholonomic systems including differential drive mobile robots. To address this problem, numerous...
This paper introduces the Affordance Template ROS package for quickly programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers [1] by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet...
For a mobile manipulator to interact with large everyday objects, such as office tables, it is often important to have dynamic models of these objects. However, as it is infeasible to provide the robot with models for every possible object it may encounter, it is desirable that the robot can identify common object models autonomously. Existing methods for addressing this challenge are limited by being...
In this paper, a new saturated synchronous controller is proposed for multiple nonholonomic wheeled mobile robots to perform a time-varying formation task. Each robot is controlled to track its desired trajectory, while synchronized its motion with the two neighboring robots. A novel dynamic model of the wheeled mobile robot is derived based on Lagrange method. The Lagrange multipliers of the robot...
In this paper, trajectory tracking for nonholonomic mobile robots is addressed. Two strategies are proposed: the first is based on Lyapunov stability theory, while the second adopts sliding mode control. The main difference between the two proposed strategies is that the time required for the error to converge towards zero is not a constraint in the first strategy while it is limited in the second...
In this paper, we tackle the problem of trajectory tracking for Skid-Steering mobile robots. Two strategies of kinematic modeling of the Skid-Steering mobile robot are considered. The controllers are designed based on Sliding Mode scheme to asymptotically stabilize the tracking errors in surge, sway and heading for different reference trajectories. The study on circular trajectory and on a straight...
This paper presents the simulation of vehicle steering control system using the Imperialist Competitive Algorithm (ICA) for optimizing Proportional Integral Derivative (PID) control parameters to suppress errors on lateral motion and the yaw motion of vehicles. The vehicles are represented in the model vehicle with 10 degrees of Freedom of vehicle dynamics system. The simulation results show that...
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