Simplified controller for three wheeled omni directional mobile robot

Galgamuwa, G. I. R. K.; Liyanage, Kaveen; Ekanayake, M. P. B.; Samaranayake, B.G.L.T.

doi:10.1109/iciinfs.2015.7399030

Cited by 8 publications

(1 citation statement)

References 2 publications

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“…In most cases, the trajectory planning problem can be viewed as the open loop solution of an optimal control problem, where the cost function may include several criteria such as distance, time, control effort, energy, safety, or their combination. The boundary conditions represent the initial and final states, while the constraints may relate to the physical implementation (speed, acceleration, and jerk), the workspace (obstacles and boundaries), and the nature of the task (autonomy, regulations, and comfort) [5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Multi-Objective Combinatorial Optimization Using the Cell Mapping Algorithm for Mobile Robots Trajectory Planning

Grisales-Ramírez

Osorio

2023

Electronics

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The use of optimal control theory for motion planning is a challenging task. Cell mapping offers a way to formulate combinatorial optimization problems, allowing the inclusion of complex cost functions as well as multi-objective optimization problems. This paper presents a suboptimal solution for a trajectory planning problem in a workspace with obstacles, for a differential drive mobile robot. This method relies on the use of any linearization technique that allows the regularization of the combinatorial optimization problem. We explore some classical problems in optimal control, i.e., distance, control effort, and navigation time), as well as the multi-objective optimization problem (MOP). We also performed a comparison with two classical path planning algorithms, namely A∗ and RRT∗, to validate the proposed method when the multi-objective optimization problem includes distance in the cost function, achieving a compromise of less than 2% for the worst-case scenario for our case study.

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Section: Introductionmentioning

confidence: 99%

Multi-Objective Combinatorial Optimization Using the Cell Mapping Algorithm for Mobile Robots Trajectory Planning

Grisales-Ramírez

Osorio

2023

Electronics

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Application of Tiling Theory for Path Planning Strategy in a Polyiamond Inspired Reconfigurable Robot

et al. 2019

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Commercial floor cleaning robots face significant challenges in accessing convex and narrow corners due to their fixed and regular morphologies. To overcome this, we develop a new class of selfreconfigurable floor cleaning robot, hTetrakis, which is composed of tetriamonds (four equilateral triangles aligned along the edges) that adopt three distinct forms (''I'', ''A'', and ''U'' shapes). When on a flat and rigid platform, these forms have convex corners that help to cover narrow regions. This paper addresses the mechanical structural design, reconfiguration of the robot platform through the hinge mechanism, and the electronics and navigation module of hTetrakis. Based on finite element studies, we estimate the system's natural frequency, stress, and deformation patterns developed in the structural components of the robot, and validate the proposed design to overcome structural failure and system resonance. In order to achieve maximum area coverage using the tetriamond forms, we formulate tiling theorems and apply them for pathplanning techniques during the floor cleaning process. By using a robot prototype, we conduct experiments to validate the proposed tiling theorem based on the percentage of area coverage, and demonstrate that this platform is able to cover the floor area efficiently. INDEX TERMSCoverage area, path planning strategy, polyiamond tiling theory, reconfigurable floor cleaning robots.

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Deep Reinforcement Learning Based Multiple Omnidirectional Mobile Robots Control

Tian

Zhang

et al. 2021

2021 China Automation Congress (CAC)

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Simplified controller for three wheeled omni directional mobile robot

Cited by 8 publications

References 2 publications

Multi-Objective Combinatorial Optimization Using the Cell Mapping Algorithm for Mobile Robots Trajectory Planning

Multi-Objective Combinatorial Optimization Using the Cell Mapping Algorithm for Mobile Robots Trajectory Planning

Application of Tiling Theory for Path Planning Strategy in a Polyiamond Inspired Reconfigurable Robot

Deep Reinforcement Learning Based Multiple Omnidirectional Mobile Robots Control

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