Trajectory Tracking of the Mixed conventional/braking Actuation Mobile robots using Model Predictive Control

Nikshi, Walelign M.; Hoover, Randy C.; Bedillion, Mark D.; Shahmiri, Saeed

doi:10.1109/icca.2018.8444302

Cited by 1 publication

(3 citation statements)

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“…r for terms that are outside the summation sign in (26). Therefore, the equations of motion for the MAMR in the local coordinate frame are summarized as…”

Section: Kineticsmentioning

confidence: 99%

“…If one of the actuators fails during operation, the objective can still be achieved in contrast to the traditional differential drive mobile robot. If the brake attached to the failed drive motor is activated, the robot will spin about the braked wheel point [26]. With the brake inactive, it will drive in a spiral.…”

Section: Introductionmentioning

confidence: 99%

“…The use of Fuzzy Logic Control (FLC) has been applied in many different application domains, a subset of which include tracking [26], navigation and control of robotic systems [16,[27][28][29][30][31].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Parking Control of Mixed Conventional/Braking Actuation Mobile Robots Using Fuzzy Logic Control

Nikshi

Bedillion

Hoover

2016

Volume 4A: Dynamics, Vibration, and Control

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The use of conventional actuators in robotic systems (electric motors in particular), while often offering advantages in terms of flexibility and controllability, suffer from primary actuator failure, due to unexpected complexities in their environment, which can lead to loss of controllability. Conventional actuators can impose disadvantages on mechanical complexity, weight, and cost. Here, the Mixed conventional/braking Actuation Mobile Robot (MAMR), a new mobile robot platform, is proposed to tackle such drawbacks in actuation and explore the use and control of braking actuation. This platform substitutes the drive motors used in Ackermann steering with brakes that have only two states, ON and OFF. Additionally, the conventional drive wheels are replaced by a single, omni-directional wheel that only supports a driving force in the robots longitudinal direction. The ability of braking actuators in providing controllability under actuator failure is one of the primary motivations of this work. To validate the reliability and accuracy of MAMR approach, this paper studies the design of such robotic systems, the design and synthesis of fuzzy logic controllers along with the experimental assessments of these controllers in real-time. The experimental tests point out the controller performance enhancement using fuzzy logic controllers and MAMR.

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“…r for terms that are outside the summation sign in (26). Therefore, the equations of motion for the MAMR in the local coordinate frame are summarized as…”

Section: Kineticsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%