Design of controllers for omnidirectional robot based on the ystem identification technique for trajectory tracking

Amudhan, A. N.; Sakthivel, P.; Sudheer, A. P.; Kumar, T. K. Sunil

doi:10.1088/1742-6596/1240/1/012146

Cited by 5 publications

(4 citation statements)

References 9 publications

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“…Wang et al generalized this model to be independent of Omni wheel orientation; however, their validation only addresses models with axles oriented toward the center [15]. This generalized inverse kinematics has also been used by Pang et al, and Amudhan et al in their work on robots with axles oriented toward the center [16,17]. Our previous work shows that robots can move in all directions, even in a point-symmetric arrangement with axles not oriented toward the robot center [18].…”

Section: Related Workmentioning

confidence: 99%

Omni Wheel Arrangement Evaluation Method Using Velocity Moments

2023

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Wheeled omnidirectional mobile robots have been developed for industrial and service applications. Conventional research on Omni wheel robots has mainly been directed toward point-symmetric wheel arrangements. However, more flexible asymmetric arrangements may be beneficial to prevent tipping over or to make the robot more compact. Asymmetry can also be the result of a motor/wheel failure in a robot with a redundant configuration; in this case, it may be possible to continue operations, but with an asymmetrical arrangement. For controlling such asymmetric arrangements, it is necessary to consider the moment of propulsive force generated by the wheels. Since it is difficult to measure the propulsive force accurately, in this work we model propulsive forces as being proportional to the ground speed of the wheels. Under this assumption, we estimated the robot’s behavior in an asymmetric wheel configuration by considering the balance of the velocity moment, which is the moment of the wheel’s ground speed. By verifying the robot’s behavior with various wheel configurations, we confirmed experimentally that the sum of the velocity moments affects the straightness of the robot and allows us to improve the design of asymmetric wheel arrangements and control during wheel failures.

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Section: Related Workmentioning

confidence: 99%

Omni Wheel Arrangement Evaluation Method Using Velocity Moments

2023

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“…Among the various types of mobile robotic vehicles, the most preferred are differential-drive mobile robots. Their simple architecture and well-established kinematic and dynamic models make them the best choice [19]. As the name implies, differential-drive robotic vehicles feature independent right and left wheels that share a common axis, as well as other wheels responsible for stabilising the robotic platform [20].…”

Section: Introductionmentioning

confidence: 99%

Simulation of Autonomous Driving for a Line-Following Robotic Vehicle: Determining the Optimal Manoeuvring Mode

Bakirci

2023

ELEKTRON ELEKTROTECH

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Mobile robotic systems offer valuable test platforms due to their shared features with autonomous vehicles, including features such as sensor technologies, navigation algorithms, and control systems. However, constraints in laboratory environments or technical resources, along with the need for extensive testing, often necessitate the use of virtual test laboratories. While line-following is a widely preferred application in mobile robotics, research on this topic within virtual laboratories is limited. This study pioneers the use of a car-like robotic vehicle in conducting line-following tests within a virtual laboratory environment. To facilitate these tests, a virtual simulator was developed to meet the requirements of realistic simulations. This simulator includes simulated elements, such as roads and environmental features, along with virtual sensors designed to collect and process dynamic motion data. An exceptional aspect of this study is its ability to collect consistent dynamic travel data by sampling realistic sensor information within a virtual environment. The developed line-following algorithm employs a controller to minimise lateral deviation while the robotic vehicle follows a road line during its movement. The study conducted virtual driving tests using two different manoeuvre modes on four distinct road segments, exploring how the manoeuvring style influences the driving quality. It was demonstrated that in the low manoeuvre mode, the ride is more comfortable, but exhibits a greater route deviation due to reduced oscillation, while the high manoeuvre mode exhibits the opposite behaviour.

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“…The study presented in [51] used a flatness-based control scheme hardware-in-the-loop simulation platform for an OMR where the control input from the simulation model was reassigned to the robot hardware and the feedback to the simulation model was done by a Kinect-based vision system. The trajectory tracking for an OMR with four omnidirectional wheels presented in [52] was carried out using PID and linear quadratic tracking (LQT)-based controller. In [53], the author utilized a constrained dynamic inversion-based (CDIB) approach that incorporates vehicle dynamics to solve the optimal trajectory generation problem of an OWMR with three orthogonal wheels.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Trajectory Planning Optimization for the Symmetrical Multiwheeled Omnidirectional Mobile Robot

Almasri

Uyguroğlu

2021

Symmetry

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Trajectory optimization is the series of actions that are taken into consideration in order to produce the best path such that it improves the overall performances of physical properties or reduces the consumption of the resources where the restriction system remains maintained. In this paper, first, a compact mathematical model for a symmetrical annular-shaped omnidirectional wheeled mobile robot (SAOWMR) is derived and verified. This general mathematical model provides an opportunity to conduct research, experiments, and comparisons on these omnidirectional mobile robots that have two, three, four, six, or even more omnidirectional wheels without the need to switch models or derive a new model. Then, a new computationally efficient method is proposed to achieve improvements in the trajectory planning optimization (TPO) for a SAOWMR. Moreover, the proposed method has been tested in collision-free navigation by incorporation of the path constraints. Numerical tests and simulations are presented aiming to ensure the efficiency and effectiveness of the proposed method.

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Design of controllers for omnidirectional robot based on the ystem identification technique for trajectory tracking

Cited by 5 publications

References 9 publications

Omni Wheel Arrangement Evaluation Method Using Velocity Moments

Omni Wheel Arrangement Evaluation Method Using Velocity Moments

Simulation of Autonomous Driving for a Line-Following Robotic Vehicle: Determining the Optimal Manoeuvring Mode

Modeling and Trajectory Planning Optimization for the Symmetrical Multiwheeled Omnidirectional Mobile Robot

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