Control of an omnidirectional mobile robot

Watanabe, Keigo

doi:10.1109/kes.1998.725827

Cited by 75 publications

(44 citation statements)

References 12 publications

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“…전방향 이동로봇의 기구학과 동역학을 유도하여 제어하고 [1], 축구로봇에 사용하고 [2], 비선형 제어기를 설계하여 제어하기도 하였다 [4]. 주어진 경로를 추종하도록 제어기를 설정하고 [5,7,8], 장애물 회피를 실시간으로 처리하는 방법을 제시하였다 [10].…”

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Design and Control of an Omni-directional Cleaning Robot Based on Landmarks

Kim¹,

Igor²,

Kang³

et al. 2013

Journal of Korean Institute of Intelligent Systems

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This paper presents design and control of an 'Omni-directional Cleaning Robot (OdCR)' which employs omni-wheels at three edges of its triangular configuration. Those omni-wheels enable the OdCR to move in any directions so that lateral movement is possible. For OdCR to be localized, a StarGazer sensor is used to provide accurate position and heading angle based on landmarks on the ceiling. In addition to that, ultrasonic sensors are installed to detect obstacles around OdCR's way. Experimental studies are conducted to test the functionality of the system.

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Section: 서론unclassified

Design and Control of an Omni-directional Cleaning Robot Based on Landmarks

Kim¹,

Igor²,

Kang³

et al. 2013

Journal of Korean Institute of Intelligent Systems

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“…Trajectory linearization control (TLC), which is based on linearization along the desired trajectory and inversion of the dynamics was implemented in [10]. Watanabe [9] introduced the PID control, self-tuning PID control, and fuzzy control of omni-directional mobile robots. In our proposed approach, NMPC combined with path following has been carried out for the leader agent, and is explained in details in the next section.…”

Section: Kinematic Model Of Omnidirectional Mobile Robotsmentioning

confidence: 99%

A model-predictive approach to formation control of omnidirectional mobile robots

Kanjanawanishkul

Zell

2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents a solution to the problem of steering a group of real omnidirectional mobile robots along a given path, while maintaining a desired formation pattern. This problem can be divided into a leader agent subproblem and a follower agent subproblem such that a leader agent follows a given path and each follower agent tracks a trajectory, estimated by using the leader's information. In this paper, we exploit nonlinear model predictive control (NMPC) as a local control law for real-world experiments due to its advantages of taking the robot constraints and future information into account. To solve the path following problem for the leader agent, we propose to integrate the rate of progression of a virtual vehicle to be followed along that path into the local cost function of NMPC. After the open-loop optimization problem is solved, the optimal rate of progression at each time step in the future is obtained. This information and the leader's current state are broadcasted to all follower agents. With respect to a desired formation configuration and a reference path, each follower agent can estimate its own reference trajectory by using the leader's information and its time stamp. NMPC is also employed as a local control law to steer the follower agent to track that reference trajectory. Our approach was validated by experiments using three omnidirectional mobile robots.

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“…In [10] it has been shown that two identical PID controllers for robot position and orientation are suitable for controlling a robot. If the residual error is negligible the integrator can be omitted.…”

Section: Robot Controllermentioning

confidence: 99%

A New Odometry System to Reduce Asymmetric Errors for Omnidirectional Mobile Robots

Tehrani

Doosthosseini

Moballegh

et al. 2004

RoboCup 2003: Robot Soccer World Cup VII

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Abstract. This work describes an investigation to reduce positioning error of 3 wheel middle size robot by using a modified odometry system. In this technique the positioning sensor (shaft encoders) are mounted on 3 free-running wheels so the slippage of the driving wheels does not affect the measurements of the sensors. This will result in decreasing the cumulative error of the system. This mechanism accompanying by omnidirectional vision system presents reliable and accurate self-localization method for any 3 wheel driving robot. Experimental results have shown performance improvement up to 86% in orientation error and 80% in position error.

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Control of an omnidirectional mobile robot

Cited by 75 publications

References 12 publications

Design and Control of an Omni-directional Cleaning Robot Based on Landmarks

Design and Control of an Omni-directional Cleaning Robot Based on Landmarks

A model-predictive approach to formation control of omnidirectional mobile robots

A New Odometry System to Reduce Asymmetric Errors for Omnidirectional Mobile Robots

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