A position control differential drive wheeled mobile robot

Chung, Yong-Oug; Park, Chong-Kug; Harashima, F.

doi:10.1109/41.937419

Cited by 48 publications

(7 citation statements)

References 8 publications

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“…The scan interval is set to 10 ms. The robot posture is obtained using odometry method (Chung et al , 2001), which is commonly used in mobile robot control research. In the experiments, this paper uses two scenarios to verify the performance of the proposed FADRC method.…”

Section: Methodsmentioning

confidence: 99%

Fuzzy active disturbance rejection control method for an omnidirectional mobile robot with MY3 wheel

Shao

Liu

et al. 2023

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Purpose Omnidirectional mobile robots with a special type of wheel structure can realize flexible motion with all three degrees of freedom in a plane. But the driving method brings large disturbance, which affects motion accuracy and stability. This study aims to improve the motion control accuracy of the omnidirectional mobile platform with MY3 wheels (MY3-OMR), a new fuzzy active disturbance rejection control (FADRC) method with adaptivity is proposed. Design/methodology/approach Based on the basic mechanical structure and drive characteristics of MY3-OMR, the dynamics model of the system is established. The linear active disturbance rejection control (LADRC) system is designed to reduce the interference of nonlinear factors in this dynamics model. A fuzzy controller is introduced to realize the online adjustment of the parameters of the LADRC, which further improves the anti-disturbance performance of the system. Findings The control method proposed in this paper is compared and analyzed with other methods by simulation and experiment. Results show that the proposed method has better tracking and robustness, which effectively improves the control accuracy of trajectory tracking of MY3-OMR. Originality/value A FADRC method with adaptivity is proposed by combining fuzzy control and LADRC. The motion accuracy and anti-interference ability of the MY3-OMR are improved by this control method, which lays a foundation for the subsequent application of MY3-OMR.

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Section: Methodsmentioning

confidence: 99%

Fuzzy active disturbance rejection control method for an omnidirectional mobile robot with MY3 wheel

Shao

Liu

et al. 2023

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“…,∼ = 0 0 − ∼ ∼ (16) with ∼ the time derivative of the spring length defined by Equation (12). As known then, the dynamics equations of the mobile robot can be expressed by:…”

Section: Simplified Dynamics Modelmentioning

confidence: 99%

“…In the past, a class of robots was exploited more than others for domestic use, namely, those owning two fixed driven wheels, also known as differential-drive robots. Among others, DeSantis proposed path-tracking control for this class [11]; later on Chung et al inquired their position kinematics and control [12]; in 2010 Chwa proposed a control law based on a recursive linearization of the robot model [13]; recently Bruzzone et al developed an innovative actuation system merging the peculiarities of legged, wheeled, and tracked robots [14]. The reasons for such success lie in their simplicity of use and cost effectiveness.…”

Section: Introductionmentioning

confidence: 99%

On the Suspension Design of Paquitop, a Novel Service Robot for Home Assistance Applications

et al. 2021

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The general and constant ageing of the world population that has been observed in the last decade has led robotics researchers community to focus its aims to answer the ever-growing demand for health care, housing, care-giving, and social security. Among others, the researchers at Politecnico di Torino are developing a novel platform to enhance the performance offered by present-day issues, and to assess many others which were not even taken into consideration before they have been highlighted by the pandemic emergency currently in progress. This situation, in fact, made dramatically clear how important it is to have reliable non-human operators whom one can trust when the life of elderly or weak patients is endangered by the simple presence of other people. The platform, named Paquitop, features an innovative architecture conceived for omni-directional planar motion. The machine is designed for domestic, unstructured, and variously populated environments. Therefore, the mobile robot should be able to avoid or pass over small obstacles, passing through the capability to achieve specific person tracking tasks, and arriving to the need of operating with an high dynamic performance. Given its purpose, this work addresses the design of the suspension system which enables the platform to ensure a steady floor contact and adequate stability in every using condition. Different configurations of such system are then presented and compared through use-case simulations.

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“…A unique climbing robot with wet vacuum adhesion mechanism is studied in the work of Miyake et al 20 The adhesion system consists of two wheels and a suction cup, which has good movement performance on smooth glass and rough surface. A mobile robot containing four wheels is introduced in the work of Park et al 21 and Chung et al, 22 two wheels are free, the other two are driven by DC motors. The design of high performance robust controller is of vital importance to deal with nonlinearity and uncertainty in the system.…”

Section: Introductionmentioning

confidence: 99%

Adaptive neural network tracking control of an omnidirectional mobile robot

Feng

Wang

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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The trajectory tracking control problem of an omnidirectional mobile robot is studied in this article. The omnidirectional mobile robot is adsorbed by suction cups for aircraft skin inspection, which is a typical nonholonomic system. In the control design part, a novel adaptive neural network control scheme is presented in the presence of uncertainty and external disturbance. The adaptive neural network has the characteristics of weights online updating. The neural network is applied to estimate uncertainty online to obtain the desired tracking performance. The weights online updating algorithm contains a correction term, which is an improved algorithm to ensure robustness. On the basis of Lyapunov theory, the closed-loop system can converge to an arbitrarily small domain containing origin. This illustrates that the closed-loop system is globally asymptotically bounded stable. Excellent control performance can be obtained by selecting design parameters reasonably. A simulation example of tracking an eight-shape trajectory is given to verify the effectiveness of the proposed control scheme.

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A position control differential drive wheeled mobile robot

Cited by 48 publications

References 8 publications

Fuzzy active disturbance rejection control method for an omnidirectional mobile robot with MY3 wheel

Fuzzy active disturbance rejection control method for an omnidirectional mobile robot with MY3 wheel

On the Suspension Design of Paquitop, a Novel Service Robot for Home Assistance Applications

Adaptive neural network tracking control of an omnidirectional mobile robot

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