Robust model predictive kinematic tracking control with terminal region for wheeled robotic systems

Nam, Đào Phương; Quang, Nguyen Hong

doi:10.1080/00051144.2021.1991148

Cited by 5 publications

(1 citation statement)

References 30 publications

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“…This high-level layer is explained in Section 5.2. In this context, it should be noted that nonlinear approaches, such as MPC controllers [51], could improve the current behavior of the speed control of wheelchair DC motors. Unfortunately, as mentioned, any direct handling control is deeply occluded by the higher-level path control included in the ROS "Navigation-stack", allowing us to obtain better results with such a simple controller.…”

Section: Speed Controlmentioning

confidence: 99%

Filling the Gap between Research and Market: Portable Architecture for an Intelligent Autonomous Wheelchair

García

Marrón

Melino

et al. 2023

IJERPH

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Under the umbrella of assistive technologies research, a lot of different platforms have appeared since the 1980s, trying to improve the independence of people with severe mobility problems. Those works followed the same path coming from the field of robotics trying to reach users’ needs. Nevertheless, those approaches rarely arrived on the market, due to their specificity and price. This paper presents a new prototype of an intelligent wheelchair (IW) that tries to fill the gap between research labs and market. In order to achieve such a goal, the proposed solution balances the criteria of performance and cost by using low-cost hardware and open software standards in mobile robots combined together within a modular architecture, which can be easily adapted to different profiles of a wide range of potential users. The basic building block consists of a mechanical chassis with two electric motors and a low-level electronic control system; driven by a joystick, this platform behaves similar to a standard electrical wheelchair. However, the underlying structure of the system includes several independent but connected nodes that form a distributed and scalable architecture that allows its adaptability, by adding new modules, to tackle autonomous navigation. The communication among the system nodes is based on the controller area network (CAN) specification, an extended standard in industrial fields that have a wide range of low-cost devices and tools. The system was tested and evaluated in indoor environments and by final users in order to ensure its usability, robustness, and reliability; it also demonstrated its functionality when navigating through buildings, corridors, and offices. The portability of the solution proposed is also shown by presenting the results on two different platforms: one for kids and another one for adults, based on different commercial mechanical platforms.

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Section: Speed Controlmentioning

confidence: 99%

Filling the Gap between Research and Market: Portable Architecture for an Intelligent Autonomous Wheelchair

García

Marrón

Melino

et al. 2023

IJERPH

View full text Add to dashboard Cite

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Enhancing Maneuverability in a Variable Wheelbase Wheeled Mobile Robot Through Dynamic Steering Curvature Control

Qi,

Li,

Ding

et al. 2024

Journal of Field Robotics

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Variable wheelbase wheeled mobile robot (VW‐WMR) is capable of maneuvering flexibly and traversing on rough and soil terrains within confined spaces. While the steering radius of the robot model can be robustly changed by the variable wheelbase length, a challenge is posed in accurately tracking a predefined trajectory through the alteration of wheelbase length. A dynamic steering curvature (DSC) control method is proposed in this work to overcome this challenge, which is achieved by two different approaches utilizing the variable wheelbase length and manipulating drifting motions. First, to enable flexible trajectory adjustments, a 3D Ackermann kinematics model, incorporating the lifting motion of the robot box, is developed to control steering curvature by the changes in wheelbase length. Second, to achieve flexible movement for the inner and outer curves of the originally planned curvilinear trajectory, Ackermann drift models are presented by the establishment of two sequence instantaneous centers. Furthermore, the control performance of DSC is validated through simulation experiments on the ROSTDyn Vortex platform, using a six‐wheeled VW‐WMR named HIT‐MRII robot. The effectiveness of DSC for strategically altering the robot's motion trajectory is demonstrated by the results, which show the relation between the changed trajectory position and the variation in wheelbase length, and the variation in the radii of the instantaneous centers (ICs) in the Ackermann drift model, respectively. In addition, the high maneuverability of the robot using the Ackermann model is proven by physical experiments during steering motions on soil terrain. A comprehensive advantage is demonstrated by the results via Ackermann models, which include shorter runtimes, moderate travel distances, and moderate variations in force on the wheels, compared to different velocity, crabbing motion, and equivalent bicycle models.

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Formation Control Scheme of Multiple Surface Vessels with Model Predictive Technique

Cao,

Vu,

Nguyen

et al. 2023

Lecture Notes in Networks and Systems

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Robust model predictive kinematic tracking control with terminal region for wheeled robotic systems

Cited by 5 publications

References 30 publications

Filling the Gap between Research and Market: Portable Architecture for an Intelligent Autonomous Wheelchair

Filling the Gap between Research and Market: Portable Architecture for an Intelligent Autonomous Wheelchair

Enhancing Maneuverability in a Variable Wheelbase Wheeled Mobile Robot Through Dynamic Steering Curvature Control

Formation Control Scheme of Multiple Surface Vessels with Model Predictive Technique

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