Motion Control of Wheeled Mobile Robots

Morin, Pascal; Samson, Claude

doi:10.1007/978-3-540-30301-5_35

Cited by 171 publications

(134 citation statements)

References 22 publications

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“…Each vehicle is represented by a disk of radius ρ, and its motion is specified and controlled by specifying and controlling the path to be followed by the center of the aforementioned disk; the latter is typically defined in some parametric form: x c = x c (t), y c = y c (t), t ∈ [0, T ]. For greater specificity, in the subsequent developments it is further assumed that, in terms of their motion capabilities, the vehicles act as "unicycles", possibly observing additional nonholonomic constraints that are frequently associated with the motion of this entity [17]; however, our results extend to other motion dynamics, like the "rear-drive car" dynamics analyzed in [17].…”

Section: Introductionmentioning

confidence: 87%

A distributed protocol for motion coordination in free-range vehicular systems

Roszkowska

Reveliotis

2013

Automatica

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This work extends our research on motion coordination of free-range vehicular systems based on concepts and results borrowed from resource allocation systems (RAS) theory, to vehicular systems with limited communication range among the vehicles. Similar to the earlier work, the employed model assumes the tessellation of the motion plane into cells, which are allocated to the traveling vehicles in a controlled manner that ensures collision-free and live motion. On the other hand, the limited communication range of the vehicles implies that full synchronization of their access to the considered cells is not possible any more, and yields new challenges for the deployed supervisory control policies.To enable the development of supervisory policies capable of providing the necessary partial synchronization of the cell allocation, we modify the structure of the adopted tessellation by allowing the concurrent occupation of a cell by up to two vehicles at a time, instead of only one, that was assumed earlier. This modification renders polynomially computable the relevant maximally permissive cell allocation policy, and it enables the implementation of this policy in the form of a distributed protocol that is feasible in the context of the communication constraints that are considered in this work.

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Section: Introductionmentioning

confidence: 87%

A distributed protocol for motion coordination in free-range vehicular systems

Roszkowska

Reveliotis

2013

Automatica

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“…Wheeled robots can reach high speeds with low power consumption, and can be guided by controlling a few active degrees of freedom (Morin and Samson, 2008), but their ability to overcome obstacles is generally limited. Wheeled robots can be classified according to the number and position of the wheels.…”

Section: Wheeled Locomotion Systemsmentioning

confidence: 99%

Review article: locomotion systems for ground mobile robots in unstructured environments

2012

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Abstract. The world market of mobile robotics is expected to increase substantially in the next 20 yr, surpassing the market of industrial robotics in terms of units and sales. Important fields of application are homeland security, surveillance, demining, reconnaissance in dangerous situations, and agriculture. The design of the locomotion systems of mobile robots for unstructured environments is generally complex, particularly when they are required to move on uneven or soft terrains, or to climb obstacles. This paper sets out to analyse the state-of-the-art of locomotion mechanisms for ground mobile robots, focussing on solutions for unstructured environments, in order to help designers to select the optimal solution for specific operating requirements. The three main categories of locomotion systems (wheeled – W, tracked – T and legged – L) and the four hybrid categories that can be derived by combining these main locomotion systems are discussed with reference to maximum speed, obstacle-crossing capability, step/stair climbing capability, slope climbing capability, walking capability on soft terrains, walking capability on uneven terrains, energy efficiency, mechanical complexity, control complexity and technology readiness. The current and future trends of mobile robotics are also outlined.

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“…For the kinematic equations expressed with respect to the Serret-Frenet frame with an orthogonal projection of the guidance point on a path which are transformed into the 3-dimensional chained system (30), the following control law is proposed [4] …”

Section: Morin-samson Control Algorithmmentioning

confidence: 99%

“…It neither requires the computation of a projection of the robot position on the path, nor does it need to consider a moving virtual target to be tracked. Morin-Samson algorithm [4] uses the kinematic equations of the robot derived with respect to the Serret-Frenet frame transformed into a canonical form called the chained form. Some of the algorithms available in the literature also deal with obstacles avoidance, e.g.…”

mentioning

confidence: 99%

“…In the paper different kinematic path following algorithms-which use the kinematic model of the robot expressed with respect to the Serret-Frenet frame-are compared: Samson algorithm [11], Morin-Samson algorithm [4], Soetanto-LapierrePascoal algorithm [2] and two proposed alternative discontinuous algorithms. The first discontinuous algorithm results from the attempt of linearisation and decoupling of the equations describing the dynamics of path following errors, while the latter one is a modification of Samson algorithm.…”

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confidence: 99%

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Different Kinematic Path Following Controllers for a Wheeled Mobile Robot of (2,0) Type

Płaskonka

2013

J Intell Robot Syst

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In the paper a comparative study of selected kinematic path following controllers for a wheeled mobile robot of (2,0) type has been presented. The control strategies are based on one of two approaches to the path parameterizationeither the Serret-Frenet frame with an orthogonal projection or the Serret-Frenet frame with a non-orthogonal projection of a robot on the desired path. The complete control system for the wheeled mobile robot consists of two parts, a kinematic controller and a dynamic controller, because of a presence of nonholonomic constraints. The behaviour of the presented algorithms is demonstrated through computer simulations.

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Motion Control of Wheeled Mobile Robots

Cited by 171 publications

References 22 publications

A distributed protocol for motion coordination in free-range vehicular systems

A distributed protocol for motion coordination in free-range vehicular systems

Review article: locomotion systems for ground mobile robots in unstructured environments

Different Kinematic Path Following Controllers for a Wheeled Mobile Robot of (2,0) Type

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