Trajectory Tracking Task in Wheeled Mobile Robots: A Review

Sosa-Cervantes, C. Y.; Silva‐Ortigoza, Ramón; Márquez-Sánchez, Celso; Taud, Hind; Saldaña-González, Griselda

doi:10.1109/icmeae.2014.22

Cited by 5 publications

(3 citation statements)

References 66 publications

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“…The sensing capabilities of robots can be improved through the use of more reliable controllers. According to Sosa-Cervantes et al [8], two basic types of controllers have already been proposed for robot motion. The authors identified these as dynamics-based controllers and kinematics-based controllers [9,10].…”

Section: Introductionmentioning

confidence: 99%

Challenges for Novice Developers in Rough Terrain Rescue Robots: A Survey on Motion Control Systems

Pillai

Suthakorn

2019

Journal of Control Science and Engineering

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Several researchers have revealed the huge potentials of rescue robots in disaster zones. In addition to searching for victims, these intelligent machines are also effective in obtaining useful information from the zones. These functions help to optimize the search and rescue missions. However, the fact that rescue robots have to operate in risky and dangerous environments necessitates the need for such machines to have an efficient motion control system, which can help them to operate autonomously or with minimal human control. This paper reviews the use of reliable controllers in enhancing the sensing capabilities of rescue robots. Huge potential of sensorless sensing method in the rescue robots are highlighted. It is shown that the use of sensorless sensing method enables developer to create simple and cheaper robots for various complex situations. Thus, it is imperative to conduct further studies on how to optimize the operations of robots that lack sensors.

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Section: Introductionmentioning

confidence: 99%

Challenges for Novice Developers in Rough Terrain Rescue Robots: A Survey on Motion Control Systems

Pillai

Suthakorn

2019

Journal of Control Science and Engineering

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“…Mobil zemin robotları, tekerlekli mobil robotlar (WMR) ve bacaklı mobil robotlar (LMR) olarak iki gruba ayrılmaktadır. Tekerlekli robotlar diğer mobil robotlara göre daha yaygın kullanım alanına sahiptirler [4]. Bu robotların cazip olma nedeni uygulamada daha düşük mekanik karmaşıklığa sahip olmaları ve enerji tüketimlerinin daha az olması gibi avantajlarının olmasıdır.…”

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Mobil Robotlar için Yük Altındaki Davranış Analizinin İncelenmesi

YAMAÇ

Yılmaz

2022

Fırat Üniversitesi Mühendislik Bilimleri Dergisi

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Öz: Robotların kullanımı özelliklerinden kaynaklı olarak gün geçtikçe artmaktadır. Endüstriyel alandaki gelişmeler, robotlara duyulan ihtiyacın artmasına neden olmuştur. Bu amaca yönelik çalışmalara araştırmacıları yöneltmiştir. Bu doğrultuda kullanılan robotlardan biri olan yük robotlarının birçok örnekleri mevcuttur. Bu araştırmanın amacı endüstri alanında faaliyet gösteren kuruluşlar ve araştırmacılar için yük robotları tasarımında önemli parametrelerin incelenmesi ile literatüre katkı sağlamaktır. Bu parametrelerden olan robot gövdesi ve montaj noktalarının analizleri yapılmıştır. Toplam deformasyon ve yük analizi, bir sonlu elemanlar yazılımı olan ANSYS programı ile incelenmiştir. Üç farklı yük altında (7,5 kN, 10 kN, 12,5 kN) yapılan analizler sonucunda gerilme sonuçlarında ciddi bir değişim gözlemlenmez iken, deformasyon sonuçlarında 0,23 mm --1,03 mm aralığında kısmi artışlar görülmüştür.

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“…Two basic types of controllers have been proposed for robot motion control [10]: kinematics based [11] versus dynamics based [12]. Dynamic controllers tend to outperform kinematic controllers, but, require real-time information regarding the robot's state and behaviour [13].…”

Section: Introductionmentioning

confidence: 99%

Motion Control of a Wheeled Millirobot

Drisdelle¹,

Kashino²,

Pineros³

et al. 2017

Proceedings of the 4th International Conference of Control, Dynamic Systems, and Robotics (CDSR'17)

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-This paper presents a new closed-loop control system for a novel wheeled millirobot, mROBerTO, developed at the University of Toronto. The proposed system was verified via vision-based robot-pose tracking, a centralized computer for directing movement, and a firmware PID controller. Further modification to the original robot structure, via the addition of stabilizing arms, was made to improve tracking performance. Numerous motion-control experiments were performed to evaluate the performance and robustness of the controller on the millirobot. The system presented is simple, requires little knowledge of robot's motion characteristics, and consumes limited processing capabilities. Furthermore, experimental results show that the system can provide accurate motion control for various trajectories despite the limitations that result from the small footprint of mROBerTO, 16×16×32 mm 3 .

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Trajectory Tracking Task in Wheeled Mobile Robots: A Review

Cited by 5 publications

References 66 publications

Challenges for Novice Developers in Rough Terrain Rescue Robots: A Survey on Motion Control Systems

Challenges for Novice Developers in Rough Terrain Rescue Robots: A Survey on Motion Control Systems

Mobil Robotlar için Yük Altındaki Davranış Analizinin İncelenmesi

Motion Control of a Wheeled Millirobot

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