A New Trajectory Tracking Control Method for Fully Electrically Driven Quadruped Robot

You, Yulong; Yang, Zhong; Zou, Teng’an; Sui, Yaoyu; Xu, Chao-Jiang; Zhang, Chi; Xu, Hao; Zhang, Zhao; Han, Jiaming

doi:10.3390/machines10050292

Cited by 8 publications

(3 citation statements)

References 48 publications

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“…At present, the ROS system has experienced more than a decade of development, and it not only has a very superior mobile robot development ecological environment, which improves the code reuse rate of mobile robot development and reduces the development cycle but also provides a very active communication community, which creates a benign communication platform for the development of machine mobile robots and accelerates the technology sharing in the field of mobile robots, and now, the ROS system is the most mainstream global mobile robot system development platform, and most of the robot development systems are ROS systems [14]. In recent years, in many enterprises and universities in China, the basic systems for mobile robot development are also ROS systems, and at present, China is the country with the most number of users of ROS systems in the global mobile robot development field, as shown in Figure 4.…”

Section: Research Backgroundmentioning

confidence: 99%

Robot Trajectory Planning Based on the Energy Management Strategy

2022

Mathematical Problems in Engineering

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With the increasing demand for automated production technology in national defense, industry, agriculture, and other fields, the status and role of mobile robots are becoming more and more pivotal. The intelligent technology of robots is becoming more and more demanding in terms of reliability, stability, efficiency, and adaptability, and the autonomous navigation technology of mobile robots is facing new challenges. This paper introduces the basic principle of traditional A∗ algorithm, points out the problems of this algorithm such as cumbersome calculation, large turning angle, and unsmooth derived trajectory planning, and proposes an improved A∗ algorithm. The improved algorithm introduces a two-way alternating search mechanism to improve the efficiency of the search path, and the improvement of the heuristic function solves the problem that the two-way alternating search A∗ algorithm takes more time when there are obstacles perpendicular to the path on the way to the encounter. Simulation experiments in different raster environments prove that compared with the traditional A∗ algorithm, genetic algorithm, and simulated annealing algorithm, the improved A∗ algorithm can significantly improve the search path speed, while overcoming the disadvantages of many path turning angles and large turning angles and is an efficient and feasible algorithm for raster map environments.

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Section: Research Backgroundmentioning

confidence: 99%

Robot Trajectory Planning Based on the Energy Management Strategy

2022

Mathematical Problems in Engineering

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“…In addition, researchers have used the trajectory planning of complex motions using the ZMP equilibrium criterion and successfully applied it to the dynamic motion of a wheeled quadruped robot [21][22][23]. To ensure that the robot can follow the planned motion scheme accurately and robustly, model predictive control was introduced in the motion planning control of quadruped robots to improve the robustness of the controller and ensure that the robot can follow the motion scheme accurately and quickly [24][25][26]. The contributions of the above research scholars are aimed at improving the robot's motion robustness in different terrain environments and motion states.…”

Section: Introductionmentioning

confidence: 99%

Body trajectory optimisation of walking gait for a quadruped robot

Zhang

Zhu

Cao

et al. 2023

IET Cyber-Syst and Robotics

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To ensure that the robot can follow the planned trajectory, smooth switching between swinging legs and a smooth transition of motion process is realised. The previous motion planning work is analysed, and a method for improving the optimisation objective function and constraint conditions is proposed to eliminate the sudden change of acceleration and reduce the peak value of acceleration change. This method eliminates the impact phenomenon in the motor drive process and reduces the motor drive energy consumption, thus ensuring the smooth and consistent movement of the robot. The results show that the improved optimisation method has a better motion effect than the previous approach in terms of centre of mass motion speed, trajectory fitting and body posture change, and realises more robust motion of quadruped robots in a senseless state.

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“…Scholars at home and abroad have carried out much research on the path tracking control of UGV. The commonly used path tracking control algorithms include PID [ 7 , 8 ], fuzzy control [ 9 , 10 ], model predictive control [ 11 , 12 , 13 ] and so on.…”

Section: Introductionmentioning

confidence: 99%

Research on Six-Wheel Distributed Unmanned Vehicle Path Tracking Strategy Based on Hierarchical Control

et al. 2022

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For the multi-objective control problem of tracking effect and vehicle stability in the path tracking process of six-wheel distributed unmanned vehicles, a control strategy based on hierarchical control (HC) theory is proposed. A hierarchical kinematic model is designed considering the structural advantages of independent steering and independent driving of the unmanned vehicle, and this model is applied to the path tracking strategy. The strategy is divided into two levels of control. The upper level of control is to use the upper-level kinematic model as the prediction model of model predictive control (MPC), and to convert the solution problem of future control increments into the optimal solution problem of quadratic programming by setting the optimal objective function and constraints. The lower level of control is to map the optimal control quantities obtained from the upper level control to the six-wheel speeds and the four-wheel turning angles through the lower-level kinematics, and to design the six-wheel torque distribution rules based on deterministic torque and stability-based slip rate control for executing the control requirements of the upper level controller to prevent the unmanned vehicle from generating sideslip and precisely generating transverse moment to ensure the stable driving of the unmanned vehicle. Experiments were conducted on the Trucksim/Simulink simulation platform for a variety of road conditions, and the results showed that hierarchical control improved the accuracy of tracking the desired path and the driving stability on complex road surfaces more than MPC.

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A New Trajectory Tracking Control Method for Fully Electrically Driven Quadruped Robot

Cited by 8 publications

References 48 publications

Robot Trajectory Planning Based on the Energy Management Strategy

Robot Trajectory Planning Based on the Energy Management Strategy

Body trajectory optimisation of walking gait for a quadruped robot

Research on Six-Wheel Distributed Unmanned Vehicle Path Tracking Strategy Based on Hierarchical Control

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