Optimal control at energy performance index of the mobile robots following dynamically created trajectories

Kaliński, Krzysztof J.; Mazur, Michał

doi:10.1016/j.mechatronics.2016.01.006

Cited by 12 publications

(12 citation statements)

References 9 publications

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“…The biggest advantage of ZigBee GBAS is its low cost and low power consumption. It is important in the task described in [11,22,24]. ZigBee operates on the 2.4 GHz ISM (Industrial, Scientific and Medical) band which is available for all users for free.…”

Section: Discussionmentioning

confidence: 99%

The Analyzes of PDOP Factors for a Zigbee Ground – Based Augmentation Systems

Janowski

Rapiński

2017

Polish Maritime Research

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This paper presents the analysis of PDOP factors for a ZigBee ground -based augmentation systems. It presents the idea of such a system followed by the results of assessment of application in Gdansk Marina. The results of the experiment show that the application of ZigBee can significantly improve PDOP value in harsh measurement environment. The analysis shows that it is possible to select an optimal location of ground-based transceiver on the basis of predicted trajectory and obstructions measured with laser scanning.

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Section: Discussionmentioning

confidence: 99%

The Analyzes of PDOP Factors for a Zigbee Ground – Based Augmentation Systems

Janowski

Rapiński

2017

Polish Maritime Research

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“…The bridge is set on steel pipe piles 508/10 mm with open bottom. Rotating the bridge structure between the operating state (open for pedestrians) and the closed state (open navigation channel) is executed using the mechanism installed under the span platform [9,13].…”

Section: Characteristics Of the Objectmentioning

confidence: 99%

The Effect of Fishing Basin Construction On the Behaviour of a Footbrdge Over the Port Channel

Pyrzowski

Miśkiewicz

Chróścielewski

2017

Polish Maritime Research

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“…In our previous work, we have implemented an EtherCAT environment for a desktop PC to control a conventional wheeled mobile robot [18]. Owing to the current trend in exploiting open embedded platforms as main controllers in robot control applications [19][20][21], we developed a low-cost, real-time EtherCAT controller based on an open embedded hardware: i.MX6Q SABRELite [22]. However, the software development on these platforms is more difficult in contrast to commercial distributions owing to the limited availability of systematic documentation and technical support [23,24].…”

Section: Introductionmentioning

confidence: 99%

Network-Oriented Real-Time Embedded System Considering Synchronous Joint Space Motion for an Omnidirectional Mobile Robot

Delgado

Choi

2019

Electronics

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This paper proposes a real-time embedded system for joint space control of omnidirectional mobile robots. Actuators driving an omnidirectional mobile robot are connected in a line topology which requires synchronization to move simultaneously in translation and rotation. We employ EtherCAT, a real-time Ethernet network, to control servo controllers for the mobile robot. The first part of this study focuses on the design of a low-cost embedded system utilizing an open-source EtherCAT master. Although satisfying real-time constraints is critical, a desired trajectory on the center of the mobile robot should be decomposed into the joint space to drive the servo controllers. For the center of the robot, a convolution-based path planner and a corresponding joint space control algorithm are presented considering its physical limits. To avoid obstacles that introduce geometric constraints on the curved path, a trajectory generation algorithm considering high curvature turning points is adapted for an omnidirectional mobile robot. Tracking a high curvature path increases mathematical complexity, which requires precise synchronization between the actuators of the mobile robot. An improvement of the distributed clock—the synchronization mechanism of EtherCAT for slaves—is presented and applied to the joint controllers of the mobile robot. The local time of the EtherCAT master is dynamically adjusted according to the drift of the reference slave, which minimizes the synchronization error between each joint. Experiments are conducted on our own developed four-wheeled omnidirectional mobile robot. The experiment results confirm that the proposed system is very effective in real-time control applications for precise motion control of the robot even for tracking high curvature paths.

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Optimal control at energy performance index of the mobile robots following dynamically created trajectories

Cited by 12 publications

References 9 publications

The Analyzes of PDOP Factors for a Zigbee Ground – Based Augmentation Systems

The Analyzes of PDOP Factors for a Zigbee Ground – Based Augmentation Systems

The Effect of Fishing Basin Construction On the Behaviour of a Footbrdge Over the Port Channel

Network-Oriented Real-Time Embedded System Considering Synchronous Joint Space Motion for an Omnidirectional Mobile Robot

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