A novel algorithm based on nonlinear optimization for parameters calibration of wheeled robot mobile chasses

Peng, Gang; Lu, Zezao; Tan, Zejie; He, Dingxin; Li, Xinde

doi:10.1016/j.apm.2021.02.012

Cited by 9 publications

(5 citation statements)

References 11 publications

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“…x u is the vector defining the velocity of changing the state of the wheeled platform depending on the time t , the current state x and on the control u ; 0 t is some given time moment, and 0 x is the vector defining the state of the researched wheeled platform at the initial time moment 0 tt = . The mathematical model (4) of the wheeled platform allows having the full imaginations about changing the state (1) of this platform at the time moments 0 tt  relevant to some given control (2), and this given control (2) actually characterises the driving power of the wheeled platform. It is possible in general case at least due to numerical solving the Cauchy problem (4), and it is the standard mathematical task, and a lot of computer technologies are existed to solve this task, including the Scilab free open source software suitable for engineering and scientific calculations.…”

Section: Methodsmentioning

confidence: 99%

“…The existed wide interest to the problems about control of the robotic wheeled platforms are due to the wide range of the operation purposes for these platforms, and it can be illustrated by the follows researches [1][2][3]. Such interest to the control problems is due to the different circumstances [4][5][6].…”

Section: Analysis Of Last Achievements and Publicationsmentioning

confidence: 99%

“…It seems that the problems of the robotic wheeled platforms control are fully researched due to a lot of existed publications [1][2][3], but the most of the existed publications deals with the separate particularities of the general problem about control of the robotic wheeled platforms [4][5][6], so this general problem is actually not fully researched now. Besides, permanent implementing the new kinds of the robotic wheeled platforms requires the developing the relevant control systems [7], so it seems that the problem about control of the robotic wheeled platforms is and will be permanently in current interest too.…”

Section: Highlight Of the Earlier Unresolved Parts Of The General Pro...mentioning

confidence: 99%

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Computer Simulations of Controllability Processes for Robotic Wheeled Platforms Taking Into Account Restrictions of Jerk Motions

Alyokhina

Nevliudov

Romashov

2022

ITSSI

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The computer simulations are considered as the required tool to design the suitable autonomous control systems optimal in different senses and especially in providing the restrictions of the jerk motions for the robotic wheeled platforms. The subject matter of this research is the development of the theory and methods for computer simulations of the controllability processes of the robotic wheeled platforms. The goal of this research is to consider the jerks of the wheeled platforms, and the jerks are reduced to the limitation of the acceleration time derivative of the mass center of the wheeled platform, so that this derivative is considered as the quantitative estimation of the jerks. The incorrectness in the Hadamard's sense for direct defining the jerks by differentiations of the phase coordinates in the case of computer simulations using the numerical methods is discussed. Tasks of this research are in developing the generalized approaches for mathematical modelling and computer simulations and in theoretical receiving of the properties inherent for the wheeled platforms and suitable for verification the computer simulations results, as well as in making the calculations to have the quantitative results about the controllability processes for the particular case of the electromechanical four-wheeled platform under the straight motion with the mode of speeding-up from the state of the rest. Methods of this research are based on the Lagrange's equations of second kind, as well as on the electromechanical analogies, and on final representing the mathematical models in the form of the system of the first ordered ordinary differential equations with the initial conditions for further numerical solving. The computer simulations are accomplished by using the Scilab free open source software. Results of this research are in the proposed suitable way for computing the jerks by the phase coordinates without its differentiations allow excluding the incorrectness in the Hadamard's sense, as well as in representing the controllability processes for the electromechanical wheeled platform, including the results for the velocities, the accelerations and the jerks which are necessary to illustrate the controllability processes for the robotic wheeled platforms. By comparison with the theoretically established inherent properties of the wheeled platforms it is shown the correctness of the results of the computer simulations. Conclusions about this research are that the developed approaches for computer simulations of the controllability processes for the robotic wheeled platforms allow considering influence of the control on the different characteristics including the velocity, the acceleration, as well as the jerk motions which are required for designing the controls optimal in different senses.

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Section: Methodsmentioning

confidence: 99%

Section: Analysis Of Last Achievements and Publicationsmentioning

confidence: 99%

Section: Highlight Of the Earlier Unresolved Parts Of The General Pro...mentioning

confidence: 99%

See 1 more Smart Citation

Computer Simulations of Controllability Processes for Robotic Wheeled Platforms Taking Into Account Restrictions of Jerk Motions

Alyokhina

Nevliudov

Romashov

2022

ITSSI

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“…The strength, stiffness, uniform speed, acceleration, and steering of the car chassis were simulated using finite element statics analysis, kinematics and dynamics simulation, on the basis of verifying its reasonable structure, a PID fuzzy control strategy was established to reduce overshoot and improve response speed. In order to reduce the influence of the internal and external parameter errors of the inertial measurement unit on the positioning and pose estimation accuracy of wheeled robots, Peng et al [8] proposed a new algorithm for the internal parameter calibration of the mechanical wheel omnidirectional mobile platform and the external parameter calibration of the mechanical chassis-inertial measurement unit based on principal component analysis and nonlinear optimization. Wang et al [9] developed a pure electric ground vehicle with four independent driving wheels, and on the basis of the torque response and power efficiency diagram of the motor in the wheel obtained through experimental testing, a torque distribution method to optimize the energy efficiency of four-wheel vehicle operation was proposed.…”

Section: Introductionmentioning

confidence: 99%

Research on Running Performance Optimization of Four-Wheel-Driving Ackerman Chassis by the Combining Method of Quantitative Experiment with Dynamic Simulation

Zhang,

Xie,

Yang

et al. 2024

Machines

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The wheeled chassis, which is the carrying device of the existing handling robot, is mostly only suitable for flat indoor environments and does not have the ability to work on outdoor rugged terrain, greatly limiting the development of chassis driven handling robots. On this basis, this paper innovatively designs a four-wheel-driving Ackerman chassis with strong vibration absorption and obstacle surmounting capabilities and conducts performance research and optimization on it through quantitative experiments and dynamic simulation. Firstly, based on the introduction of the working principle and structure of the four-wheel-driving Ackerman carrier chassis, a multi-sensor distributed dynamic performance test system is constructed through the analysis of the chassis performance evaluation index. Then, according to the quantitative operation experiment of the chassis, the vibration and acceleration characteristics of the chassis at different positions of the chassis, the amount of slip and straightness of the chassis under different running distance, and the operating characteristics of the chassis under different road conditions and different damping springs conditions were analyzed respectively, which verified the rationality of the chassis design. Finally, by constructing the chassis dynamics simulation model; the influence law of chassis structure; and performance parameters such as chassis wheelbase, guide rod structure, and parameters, wheel friction coefficient and assembly error on the dynamic characteristics of the chassis is studied, and the optimal structure of the four-wheel-driving Ackerman chassis is determined while it is verified based on the simulation results. The research shows that the four-wheel-driving Ackerman chassis has good vibration performance and stability and has strong adaptability to different roads. After optimization, the vibration performance, stability, amount of slip, and straightness of the chassis structure are significantly improved, and the straightness is reduced to 0.399%, which is suitable for precise carriage applications on the chassis. The research has important guiding significance for promoting the development and application of wheeled chassis.

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“…Combining the above several devices, although their measurement accuracy is very high, they have at least one of the following disadvantages: high cost, large space occupation, small measurement range, limited to static measurement, complicated operation, serious time-consuming and low efficiency etc. These shortcomings make them difficult to have high application value [5][6] . At present, the more popular calibration method is to perform a series of calibrations through auxiliary equipment such as visual measurement.…”

Section: Introductionmentioning

confidence: 99%

Based on machine vision robot zero and the integration of hand-eye calibration method

Wang,

feng,

et al. 2023

Third International Conference on Control and Intelligent Robotics (ICCIR 2023)

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A novel algorithm based on nonlinear optimization for parameters calibration of wheeled robot mobile chasses

Cited by 9 publications

References 11 publications

Computer Simulations of Controllability Processes for Robotic Wheeled Platforms Taking Into Account Restrictions of Jerk Motions

Computer Simulations of Controllability Processes for Robotic Wheeled Platforms Taking Into Account Restrictions of Jerk Motions

Research on Running Performance Optimization of Four-Wheel-Driving Ackerman Chassis by the Combining Method of Quantitative Experiment with Dynamic Simulation

Based on machine vision robot zero and the integration of hand-eye calibration method

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