2600m, DYNAMIC MOTION CONTROL FOR COMPLIANT FRAMED WHEELED MODULAR MOBILE ROBOTS
نویسندگان
چکیده
In this dissertation, a distributed robust controller, a motion control and sensing architecture, and a terrain feature localization are studied to solve general navigation problems for Compliant Framed wheeled Modular Mobile Robots (CFMMR). This type of wheeled mobile robot uses rigid axles coupled by compliant frame modules to provide both full suspension and enhanced steering capability without additional hardware. First, a distributed nonlinear damping controller is developed for single-axle unicycle type robots. The controller is then extended to multiple-axle CFMMR configurations and is robust to disturbances created by modeling errors, especially highly nonlinear frame forces caused by axle interaction. In particular, the controller considers time-varying reference velocities and allows the robot to perform posture regulation, path following, or general trajectory tracking. In order to achieve improved motion control of CFMMR, a distributed cooperative motion control and sensing architecture is developed by combining a kinematic controller for motion coordination and providing reference commands, dynamic motion controllers to follow these commands and reject disturbances, and a sensor fusion system to provide accurate posture estimates. Requirements for each subsystem and their respective interconnections are defined to optimize system performance.
منابع مشابه
Fuzzy Motion Control for Wheeled Mobile Robots in Real-Time
Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...
متن کاملCurvature Based Point Stabilization and Path following for Compliant Framed Wheeled Modular Mobile Robots
The compliant framed modular mobile robot is a new type of wheeled mobile robot for which the motion control problems of posture stabilization, path following, and trajectory tracking are studied. This robot has the advantages of a simple modular design that provides full suspension and steering capability without any additional components. Due to the flexible nature of the robot, the kinematic...
متن کاملTrajectory Tracking of Two-Wheeled Mobile Robots, Using LQR Optimal Control Method, Based On Computational Model of KHEPERA IV
This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best po...
متن کاملCurvature Based Point Stabilization for Compliant Framed Wheeled Modular Mobile Robots
Posture stabilization of a compliant framed modular mobile robot is the subject of this paper. This is a new type of wheeled mobile robot that has advantages of a simple modular design that provides full suspension and steering capability without any additional components. Steering is achieved by coordinated control of the individual wheels in order to realize a desired trajectory. Due to the f...
متن کاملDynamic Modeling and Construction of a New Two-Wheeled Mobile Manipulator: Self-balancing and Climbing
Designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. For this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. Therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...
متن کامل