Wheeled Mobile Robots: A review

Silva‐Ortigoza, Ramón; Marcelino-Aranda, Mariana; Ortigoza, Gilberto Silva; Guzmán, Víctor; Vilchis, María Aurora Molina; González, G.; Lozada, Juan Carlos Herrera; Carbajal, Mauricio Olguín

doi:10.1109/tla.2012.6418124

Cited by 67 publications

(33 citation statements)

References 86 publications

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“…In recent years, wheeled mobile robots (WMRs) have been widely studied [1][2][3]. As a matter of fact, diverse applications of WMRs have been reported in many fields like handling explosives or radioactive materials/waste, planetary and maritime exploration, mining and petrochemical industry, medicine, agriculture, home, and entertainment, among others [4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

et al. 2017

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The trajectory tracking task in a wheeled mobile robot (WMR) is solved by proposing a three-level hierarchical controller that considers the mathematical model of the mechanical structure (differential drive WMR), actuators (DC motors), and power stage (DC/DC Buck power converters). The highest hierarchical level is a kinematic control for the mechanical structure; the medium level includes two controllers based on differential flatness for the actuators; and the lowest hierarchical level consists of two average controllers also based on differential flatness for the power stage. In order to experimentally validate the feasibility of the proposed control scheme, the hierarchical controller is implemented via a Σ-Δ-modulator in a differential drive WMR prototype that we have built. Such an implementation is achieved by using MATLAB-Simulink and the real-time interface ControlDesk together with a DS1104 board. The experimental results show the effectiveness and robustness of the proposed control scheme.

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Section: Introductionmentioning

confidence: 99%

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

et al. 2017

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“…The WMR can be classified into different types according to the wheels disposition [8]- [15]. The configuration such as classic tricycle, synchronous, Ackerman, differential, skid steer, car-like, and omnidirectional, have been designed.…”

Section: Wheeled Mobile Robotsmentioning

confidence: 99%

“…The most important control problems in WMR [15] are: positioning, regulation or stabilization, trajectory tracking, and obstacle avoidance. Regarding the trajectory tracking task, there is a significant number of scientific contributions, this, by the significant number of areas that applies, and the flexibility of the control techniques associated with this task.…”

Section: Trajectory Tracking Taskmentioning

confidence: 99%

Trajectory Tracking Task in Wheeled Mobile Robots: A Review

Sosa-Cervantes

Silva‐Ortigoza

Márquez-Sánchez

et al. 2014

2014 International Conference on Mechatronics, Electronics and Automotive Engineering

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Over the last decades, research on the trajectory tracking task in wheeled mobile robots (WMR) has grown steadily. Nowadays, the WMR are present in most of the existing scientific fields, likewise, they have a wide number of applications in society. Therefore, this paper gives a literate review related to the trajectory tracking task in WMR. At the same time, a brief history of robotics, application of WMR, and the most relevant solutions for the trajectory tracking task are presented.

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“…Por una parte debido a que están sujetos a restricciones no-holónomas, por lo que el diseño de controles no resulta sencillo [1]. Por otra parte debido a sus múltiples aplicaciones, por ejemplo en la industria, medicina, hogar, milicia, educación, entre otras [2], [3]. Esta gama de aplicaciones ha sido posible, entre otros avances tecnológicos, gracias al diseño de controles para resolver las siguientes problemáticas [3]: seguimiento de trayectorias, evasión de obstáculos, seguimiento de sendas y estabilización.…”

Section: Introductionunclassified

Assessment of an Average Tracking Controller that Considers all the Subsystems Involved in a WMR: Implementation via PWM or Sigma-Delta Modulation

Sánchez

Tavera-Mosqueda

Silva‐Ortigoza

et al. 2016

IEEE Latin Am. Trans.

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This paper has two aims; the first, to present the design of a three-level average controller (that do not require electromechanical sensors) for the trajectory tracking task in a differential drive wheeled mobile robot (WMR). Such a controller considers, for the first time in literature, the dynamics of the three subsystems composing a WMR, i.e., mechanical structure, actuators, and power stage. The proposed controller is designed as follows: At the high level, a kinematic control for the mechanical structure is proposed. At the medium level, a control based on differential flatness for the actuators is presented. And at the low level, an average flatness control for the power is proposed. The second aim of this paper is to present an assessment, via numerical simulations using MATLAB-Simulink, of the three-level average controller performance when it is implemented using a PWM or a Σ-Δ-modulator. In these simulations the robustness of the controller is shown when multiple abrupt variations are considered in some parameters of the WMR.

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Wheeled Mobile Robots: A review

Cited by 67 publications

References 86 publications

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

Trajectory Tracking Task in Wheeled Mobile Robots: A Review

Assessment of an Average Tracking Controller that Considers all the Subsystems Involved in a WMR: Implementation via PWM or Sigma-Delta Modulation

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