Task-Priority Motion Planning of Wheeled Mobile Robots Subject to Slipping

Zadarnowska, Katarzyna; Ratajczak, Adam

doi:10.1007/978-1-4471-2343-9_7

Cited by 12 publications

(10 citation statements)

References 16 publications

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“…However, the resulting Jacobian control matrix computed in extended space of generalized coordinates has full rank (excluding singular configurations). In such a context, let us note that works [18][19][20] enlarge dynamic equations of the mobile robot using however kinematic relations not satisfying the non-holonomic constraints. Although, the approach proposed in studies [18][19][20] results in a full rank Jacobian control matrix for a mobile robot with simple output equations, it is not suitable for use in the case of a mobile manipulator.…”

Section: Motivation Of the Workmentioning

confidence: 99%

“…In such a context, let us note that works [18][19][20] enlarge dynamic equations of the mobile robot using however kinematic relations not satisfying the non-holonomic constraints. Although, the approach proposed in studies [18][19][20] results in a full rank Jacobian control matrix for a mobile robot with simple output equations, it is not suitable for use in the case of a mobile manipulator. The reason is a possible loss of the rank of a suitable Jacobian matrix obtained based on methodology given in works, [18][19][20] as it will be shown in Section 4 on a simple task accomplished by an exemplary mobile manipulator.…”

Section: Motivation Of the Workmentioning

confidence: 99%

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Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances

Galicki

2022

Intl J Robust & Nonlinear

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A robust finite-time control law is proposed for mobile manipulators with uncertain both kinematic and dynamic equations. Moreover, the following external disturbances are allowed to act on the system: unstructured forces exerted on the end-effector, slip reaction forces affecting the platform wheels, unknown friction forces coming from joints directly driven by the actuators and undesirable unstructured forces caused by singular configurations. In order to cope with both parametric uncertainties and unknown/unstructured external disturbances, we first transform the original control problem whose non-holonomic constraints are violated into a steering one in an extended space of generalized coordinates with extended non-holonomic constraints of the Pfaffian form and then introduce a task space non-singular terminal sliding manifold. Based on the Lyapunov stability theory, a new class of estimated extended transposed Jacobian control laws is derived which both effectively counteract the external forces and significantly reduce the slipping phenomena. A second order sliding technique is involved in our control law to eliminate undesirable chattering effect. An illustrative example of a mobile manipulator control demonstrates the advantages of the approach. Moreover, numerical comparisons with other representative controllers well-known in the literature are also given.

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Section: Motivation Of the Workmentioning

confidence: 99%

Section: Motivation Of the Workmentioning

confidence: 99%

Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances

Galicki

2022

Intl J Robust & Nonlinear

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“…In robotics literature various attempts to model similar systems have been presented. Most formal methods based on explicit description of interaction forces can be effectively used for simulation and open-loop control, [25]. Alternatively, a combination between kinematic and dynamic models can be investigated, [4,10,24].…”

Section: Introductionmentioning

confidence: 99%

Waypoint Following for Differentially Driven Wheeled Robots with Limited Velocity Perturbations

Pazderski

2016

J Intell Robot Syst

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In this paper a unified motion control strategy dedicated for the waypoint following task realized by a differentially driven robot is presented. It is assumed that the vehicle moves with limited velocities and accelerations in order to reduce excessive slip and skid effects. In order to include operational constraints, a motion planner is combined with a universal stabilizer taking advantage of transverse functions. To improve tracking precision translated transverse functions are deployed and a new adaptive technique for the controller tuning is proposed. During the motion planning stage an auxiliary trajectory connecting points in the configuration space and satisfying assumed phase constraints is generated. The resulting motion execution system has been implemented on a laboratory-scale skid-steering mobile robot, which served as platform for experimental validation of presented algorithms.

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“…Such method was valid only for very small value of slipping variable and, moreover, models defined for motion with and without slipping were inconsistent. Some attempt to extend method of singular perturbation into bigger slipping variable was presented in [19]. In turn, in [13] the authors have incorporated sliding variable into dynamical model of nonholonomic system.…”

Section: Introductionmentioning

confidence: 99%

Control of Underactuated Skid Steering Mobile Platforms Based on Extended Factitious Force Concept

Mazur

Domski

Roszkowska

2016

J Intell Robot Syst

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In the paper new control method of skid steering mobile platforms has been presented. Such platforms are robotic objects with deficit of control inputs in dynamic model, i.e. they are dynamically under-actuated. To compensate lack of controls, it has been assumed that there are additional factitious inputs to dynamics (so-called factitious forces), which preserve possibility to control dynamical model of skid steering mobile platform, expressed in auxiliary velocities. Factitious inputs do not exist in reality therefore it was assumed that they are equal to zero equivalently. Signals calculated from implicit functions defining factitious forces make possible to approximate slipping effects and they can be taken into account by construction of control law.

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Task-Priority Motion Planning of Wheeled Mobile Robots Subject to Slipping

Cited by 12 publications

References 16 publications

Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances

Finite‐time control of mobile manipulators subject to unknown/unstructured external disturbances

Waypoint Following for Differentially Driven Wheeled Robots with Limited Velocity Perturbations

Control of Underactuated Skid Steering Mobile Platforms Based on Extended Factitious Force Concept

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