Multisensor 3D Posture Determination of a Mobile Robot Using Inertial and Ultrasonic Sensors

Improved global localization of an indoor mobile robot via fuzzy extended information filtering

“…The robot is equipped with five essential modules: the power management module, the industrial personal computer, the motion control system, the ultrasonic self-location system and the laser ranging scanner with model LMS 291-S05. Before experimentation, a multisensory 3D posture determination system using ultrasonic and inertial sensors proposed by Tsai et al 34 was used to measure the ground truth for the moving robot. The employed ground truth instrument mounted on the robot is equipped with the 3D ultrasonic localization module and the INS module.…”

Simultaneous tracking and stabilization of an omnidirectional mobile robot in polar coordinates: a unified control approach

“…where the matrices K P and K I are symmetric and positive definite. Substituting (21) into (20) leads to the underlying closed-loop error system governed by…”

“…The work can be done easily by proceeding with the previous design procedure as discussed in Sections 3.1 and 3.2. To achieve the design control, we adopt the tracking error vector as in (19) and employ the control law (21). Then the following result is obtained in a straightforward manner.…”

“…For the robot's kinematic model (9) with the desired path (24) and the path following control (21), the robot can be steered to exactly follow the path in the sense of globally asymptotical stability. Moreover, if the matrix K I in the control (21) is zero and the Lyapunov function V 2 = 1 2 [ r e (t) ϕ e (t) θ e (t)][ r e (t) ϕ e (t) θ e (t) ] T is employed, then the origin in the closed-loop error system becomes globally exponential stable.…”

“…Two diagonal gain matrices, K p = diag{2, 2, 2} and K I = diag{1, 1, 1}, were selected for the proposed kinematic controllers with damping ratio and natural frequency as unity. The proposed unified control law (21) was implemented using C++ codes and standard programming techniques. All the experiments were conducted with the system parameters: L = 23 cm and R = 5.08 cm.…”