An overview on real-time control schemes for wheeled mobile robot

Radzak, Muhammad S.A.; Ali, Mohammed A. H.; Sha’amri, S; Azwan, Ahmad

doi:10.1088/1757-899x/342/1/012059

Cited by 4 publications

(1 citation statement)

References 19 publications

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“…One of the key operating conditions of WMR is trajectory tracking which aims to converge the robot's actual position toward a predefined path which can be uploaded as an offline map or generated online by path-planning methods [9]. An omnidirectional mobile robot (OMR) is a special type of WMR with the abilities to move instantly in all directions without any reorientation, which gives it a great advantage to complete the tracking task in such unpredictable dynamic environments [10], [11]. Tracking accuracy and constraints handling are two main criteria in developing the control algorithms along with the ability to deal with nonlinear and multivariable characteristics of the systems.…”

Section: Introductionmentioning

confidence: 99%

Enhanced MPC for Omnidirectional Robot Motion Tracking Using Laguerre Functions and Non-Iterative Linearization

El-Sayyah

Saad

2022

IEEE Access

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To cope with the computational complexity of the traditional model predictive control, and to reduce the error of the linearization and prediction processes, this paper presents an improved model predictive control algorithm, based on Laguerre functions, for the motion tracking of an omnidirectional mobile robot with non-iterative linearization. To design the controller, the kinematic modeling of the threewheeled omnidirectional robot was first performed. Next, the model predictive algorithm was developed using Laguerre functions to parametrize the control signals. At each sampling instant of the online optimization, a linearization along the predicted trajectory, based on the duality principle between optimal control and stochastic filtering, was carried out to deal with the nonlinearities of the system. This non-iterative linearization provides better approximation of the nonlinear behavior which improves the prediction process and the tracking performance, with lower computational burden due to the use of the Laguerre functions. The new controller is applied to solve the trajectory-tracking problem of an omnidirectional robot. A comparative study between the proposed controller, the conventional model predictive control, and the nonlinear model predictive approach is made. Simulation results confirm that the new controller outperform the latter ones regarding tracking accuracy with considerably low computational effort. The feasibility of the controller is demonstrated by real-time experiment on the Robotino-Festo omnidirectional mobile robot.

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Section: Introductionmentioning

confidence: 99%

Enhanced MPC for Omnidirectional Robot Motion Tracking Using Laguerre Functions and Non-Iterative Linearization

El-Sayyah

Saad

2022

IEEE Access

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Enhancing Maneuverability in a Variable Wheelbase Wheeled Mobile Robot Through Dynamic Steering Curvature Control

Qi,

Li,

Ding

et al. 2024

Journal of Field Robotics

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Variable wheelbase wheeled mobile robot (VW‐WMR) is capable of maneuvering flexibly and traversing on rough and soil terrains within confined spaces. While the steering radius of the robot model can be robustly changed by the variable wheelbase length, a challenge is posed in accurately tracking a predefined trajectory through the alteration of wheelbase length. A dynamic steering curvature (DSC) control method is proposed in this work to overcome this challenge, which is achieved by two different approaches utilizing the variable wheelbase length and manipulating drifting motions. First, to enable flexible trajectory adjustments, a 3D Ackermann kinematics model, incorporating the lifting motion of the robot box, is developed to control steering curvature by the changes in wheelbase length. Second, to achieve flexible movement for the inner and outer curves of the originally planned curvilinear trajectory, Ackermann drift models are presented by the establishment of two sequence instantaneous centers. Furthermore, the control performance of DSC is validated through simulation experiments on the ROSTDyn Vortex platform, using a six‐wheeled VW‐WMR named HIT‐MRII robot. The effectiveness of DSC for strategically altering the robot's motion trajectory is demonstrated by the results, which show the relation between the changed trajectory position and the variation in wheelbase length, and the variation in the radii of the instantaneous centers (ICs) in the Ackermann drift model, respectively. In addition, the high maneuverability of the robot using the Ackermann model is proven by physical experiments during steering motions on soil terrain. A comprehensive advantage is demonstrated by the results via Ackermann models, which include shorter runtimes, moderate travel distances, and moderate variations in force on the wheels, compared to different velocity, crabbing motion, and equivalent bicycle models.

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Fuzzy Logic Control of Goal-Seeking 2-Wheel Differential Mobile Robot Using Unicycle Approach

Yekinni¹,

Dan-Isa

2019

2019 IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS)

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An overview on real-time control schemes for wheeled mobile robot

Cited by 4 publications

References 19 publications

Enhanced MPC for Omnidirectional Robot Motion Tracking Using Laguerre Functions and Non-Iterative Linearization

Enhanced MPC for Omnidirectional Robot Motion Tracking Using Laguerre Functions and Non-Iterative Linearization

Enhancing Maneuverability in a Variable Wheelbase Wheeled Mobile Robot Through Dynamic Steering Curvature Control

Fuzzy Logic Control of Goal-Seeking 2-Wheel Differential Mobile Robot Using Unicycle Approach

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