2017
DOI: 10.1177/1729881417744570
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Experimental investigations of a highly maneuverable mobile omniwheel robot

Abstract: In this article, a dynamical model for controlling an omniwheel mobile robot is presented. The proposed model is used to construct an algorithm for calculating control actions for trajectories characterizing the high maneuverability of the mobile robot. A description is given for a prototype of the highly maneuverable robot with four omniwheels, for which an algorithm for setting the coefficients of the PID controller is considered. Experiments on the motion of the robot were conducted at different angles, and… Show more

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Cited by 38 publications
(30 citation statements)
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“…If the gyroscope signal is taken at discrete time points of the sampling period , the gyroscope noise can be described as white sequence (discrete white noise) , with the zero average and the limited variance value . The error variance determining the rotation angle is [ 11 , 21 ]. Here, the standard deviation (SD) of the error accumulation from the rotation angle determination was caused by the presence of white noise in the gyroscope output signal.…”
Section: Analysis Of the Gyroscope Random Error Componentsmentioning
confidence: 99%
“…If the gyroscope signal is taken at discrete time points of the sampling period , the gyroscope noise can be described as white sequence (discrete white noise) , with the zero average and the limited variance value . The error variance determining the rotation angle is [ 11 , 21 ]. Here, the standard deviation (SD) of the error accumulation from the rotation angle determination was caused by the presence of white noise in the gyroscope output signal.…”
Section: Analysis Of the Gyroscope Random Error Componentsmentioning
confidence: 99%
“…The selection of the feedback controller parameters is important for improving the motion accuracy of the robot. In this study, these parameters were selected referring to the method in [33] and simple manual adjustment based on the primitive state of the robot while tracking the rose path. To sufficiently evaluate the effectiveness of the proposed robust controller, the non-robust one and robust feedback controller were also evaluated using the same selected appropriate feedback controller parameters shown in Table 4.…”
Section: Simulation Setting and Instructionsmentioning
confidence: 99%
“…Algorithm for trajectory generation for a four-wheeled omnirobot was proposed in [23]. In [15], the experimental tuning of the proportional integral differential (PID) controller was considered to track the trajectory of a four-wheeled omnimobile robot.…”
Section: Introductionmentioning
confidence: 99%