Modeling and simulation of movement of dispersed group of mobile robots using Simscape multibody software

Siwek, Michał; Baranowski, Leszek; Panasiuk, Jarosław; Kaczmarek, Wojciech

doi:10.1063/1.5092048

Cited by 15 publications

(8 citation statements)

References 7 publications

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“…Simulation and experimental results show tracking of a desired trajectory for a triangle formation, however, it is observed that keeping a distance and bearing angle between leader and follower robots prevents the follower from performing exactly the same path of the leader, which is more obvious when moving into a curve, since the follower would develop a parallel curve with respect to the leader, or even an over steer or under steer curve depending on whether the follower is in the inner or outer side of the curve. Similar results are shown in [15], where a dispersed structure is forced as a formation to a group of non-holonomic mobile robots, such virtual structure is kept by defining relative distances and angles between the robots in the group. The aforementioned works are a type of constant spacing policy since they enforced constant distance and bearing angles between the robots in the formation.…”

Section: Introductionsupporting

confidence: 72%

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Observer-Based Time-Variant Spacing Policy for a Platoon of Non-Holonomic Mobile Robots

Velasco-Villa

Cruz-Morales

Rodríguez-Ángeles

et al. 2021

Sensors

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This paper presents a navigation strategy for a platoon of n non-holonomic mobile robots with a time-varying spacing policy between each pair of successive robots at the platoon, such that a safe trailing distance is maintained at any speed, avoiding the robots getting too close to each other. It is intended that all the vehicles in the formation follow the trajectory described by the leader robot, which is generated by bounded input velocities. To establish a chain formation among the vehicles, it is required that, for each pair of successive vehicles, the (i+1)-th one follows the trajectory executed by the former i-th one, with a delay of τ(t) units of time. An observer is proposed to estimate the trajectory, velocities, and positions of the i-th vehicle, delayed τ(t) units of time, consequently generating the desired path for the (i+1)-th vehicle, avoiding numerical approximations of the velocities, rendering robustness against noise and corrupted or missing data as well as to external disturbances. Besides the time-varying gap, a constant-time gap is used to get a secure trailing distance between each two successive robots. The presented platoon formation strategy is analyzed and proven by using Lyapunov theory, concluding asymptotic convergence for the posture tracking between the (i+1)-th robot and the virtual reference provided by the observer that corresponds to the i-th robot. The strategy is evaluated by numerical simulations and real-time experiments.

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Section: Introductionsupporting

confidence: 72%

“…Taking the time derivative of the observation errors (15), it is obtained,…”

Section: Convergence Of the Observation Errorsmentioning

confidence: 99%

Observer-Based Time-Variant Spacing Policy for a Platoon of Non-Holonomic Mobile Robots

Velasco-Villa

Cruz-Morales

Rodríguez-Ángeles

et al. 2021

Sensors

View full text Add to dashboard Cite

show abstract

“…Furthermore, the actual trajectory of the payload movement was generated using the time dependencies q s (t), q j (t) by precise tracking the specified trajectory of the generalized coordinates q s (t), q j (t) of the CC. A simulation model of the CC, which was developed applying the Simscape Multibody expansion blocks of the MATLAB based Simulink package, was used for this purpose [22]. This expansion is intended for modeling the mechanical systems.…”

Section: Theorymentioning

confidence: 99%

The study of the deviations of the payload moved along the curved trajectory by the crawler crane

Корытов

Shcherbakov

Titenko

et al. 2022

J. Phys.: Conf. Ser.

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Reducing the uncontrolled deviations of the payload moved by a crawler crane with a constant boom length is a relevant objective, since it improves the operational efficiency and safety, as well as the positional accuracy of the payload at the target point. In this regard, the results of the research aimed at developing a trajectory synthesis method of two controlled coordinates of the crane, such as the swing angles of the rotary platform and boom raising which ensure a predefined trajectory of the moving payload, have been described. Furthermore, the influence of the payload movement parameters, such as the time of the prescribed payload displacement, the initial angle of the boom lift, the hoist rope length, the overall dimensions of the required payload displacement trajectory on the error of the predefined payload trajectory execution by the lifting crane has been studied. For example, we examined a predefined arc curved trajectory of the moving payload. The horizontal coordinates of the trajectory of the upper suspension point located on the boom head and providing the predefined payload trajectory were generated using the Matlab mathematical simulation model developed in the Simulink package for solving a linearized differential equation. This equation describes the deviations of a pendulum suspended payload with a horizontally moving suspension point in a separate vertically located plane of the space. The superposition of two horizontal trajectories obtained by solving the given equation ensures the payload movement along a curved trajectory predefined in the horizontal plane. The trajectory of the crane’s controlled coordinates was calculated from the horizontal coordinates of the suspension point. When executing the trajectory, the examined additional errors occur. It was revealed that when the time of moving along a predefined payload trajectory exceeds 40 seconds, the residual oscillations become insignificant and payload positional accuracy at the target point increases. It suggests the limited applicability of the developed method when implemented on the rotary lifting cranes with a constant boom length. The range of the local minima errors of the predefined trajectory implementation depending on the initial inclination angle of the boom, which varies in the average values range of the boom inclination angle, has been defined.

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“…Following the static power characteristic construction, the antivibration suspended seat oscillations were simulated using a dynamic simulation model. The simulation model was developed in the mechanical systems modeling package Simscape Multibody of the mathematical system MATLAB [25]. According to the calculation scheme of the antivibration suspended chair with a movable base (figure 2a), a simulation mathematical model (figure 2b), which used the main blocks of the Simscape Multibody package, such as World Frame to set the fixed coordinate system, Prismatic Joint to describe the translational degree of freedom of the vibration protection mechanism, Solid to set the human operators' chair weight, was developed.…”

Section: Theorymentioning

confidence: 99%

Use of the Belleville spring package in the vibration protection mechanism of the operator’s seat

Корытов

Shcherbakov

Titenko³

et al. 2022

J. Phys.: Conf. Ser.

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Reducing the vibration effects on the operator of a construction, road and other machines is a relevant objective, since its accomplishing improves the efficiency and accuracy of the work performed by machines and reduces the risk of operators’ occupational diseases. Vibration protection systems with the effect of quasi-zero stiffness are promising. To produce this effect, Belleville springs packages can be used. They are a way to create a simple, reliable and inexpensive passive mechanism of the vibration protection system of the operator’s seat. The influence of the static characteristic center slope of two Belleville springs packages on the maximum acceleration of the load under the sinusoidal kinematic excitation of the seat base movements is investigated. The static characteristic center slope of the spring packages was characterized by the coefficient that affects the type of the static characteristic according to the known analytical expressions for the separate spring force. To obtain the chair acceleration values in a fixed coordinate system, we used a simulation mathematical model developed in the Simscape Multibody package for modeling mechanical systems of the MATLAB mathematical system. The model used blocks of a fixed coordinate system, a sliding joint and a rigid body forming a chain. The maximum acceleration of the chair in a fixed coordinate system was defined during a predetermined period of time at the end of the transition process under the steady state oscillations. When conducting the computational experiment, the specified oscillations amplitude of the chair base and the angular frequency of these oscillations varied. For a proper comparison of the experimental results in the form of graphical dependencies of the maximum acceleration on the amplitude and frequency, the ranges of acceptable and unacceptable arguments combinations were selected for the two spring packages. The combinations of amplitude and frequency were considered unacceptable when the maximum deformation of the spring package went beyond the static characteristic maximum. For the two packages of springs, the acceptable regions were different, therefore their intersection used for the comparative analysis, was obtained. The springs package with a relatively high stiffness in the center of the static characteristic is found out to generally provide better vibration protection of the chair in the entire acceptable range of arguments. Simultaneously, a package with lower stiffness in the center of the characteristic dampens vibrations better in the small amplitudes area, i.e. when operating in the quasi-zero stiffness area.

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Modeling and simulation of movement of dispersed group of mobile robots using Simscape multibody software

Cited by 15 publications

References 7 publications

Observer-Based Time-Variant Spacing Policy for a Platoon of Non-Holonomic Mobile Robots

Observer-Based Time-Variant Spacing Policy for a Platoon of Non-Holonomic Mobile Robots

The study of the deviations of the payload moved along the curved trajectory by the crawler crane

Use of the Belleville spring package in the vibration protection mechanism of the operator’s seat

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