• Title/Summary/Keyword: One-wheel mobile robot

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Motion Control of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels

  • Byun, Kyung-Seok;Song, Jae-Bok
    • 제어로봇시스템학회:학술대회논문집
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    • 2002.10a
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    • pp.37.6-37
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    • 2002
  • Omnidirectional mobile robots are capable of arbitrary motion in an arbitrary direction without changing the direction of wheels, because they can perform 3 degree-of-freedom (DOF) motion on a 2-dimensional plane. In this research, a new class of an omnidirectional mobile robot is proposed. Since it has synchronously steerable omnidirectional wheels, it is called an omnidirectional mobile robot with steerable omnidirectional wheels (OMR-SOW). It has 3 DOFs in motion and one DOF in steering. One steering DOF can function as a continuously variable transmission (CVT). CVT of the OMR-SOW increases the range of velocity ratio from the wheel velocities to robot velocity, which may improve...

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Balancing Control of a Single-wheel Mobile Robot by Compensation of a Fuzzified Balancing Angle (각도 오프셋의 퍼지보상을 통한 외바퀴 이동 로봇의 균형제어)

  • Ha, Minsu;Jung, Seul
    • Journal of the Korean Institute of Intelligent Systems
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    • v.25 no.1
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    • pp.1-6
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    • 2015
  • In this paper, a fuzzy control method is used for balancing a single-wheel robot. A single-wheel robot controlled by the PD control method becomes easily unstable since the flywheel tends to lean against one direction. In the previous research, we have used the gain scheduling method. To remedy this problem, in this paper, a fuzzy compensation technique is proposed to compensate for the balancing angle. The fuzzy control method compensates offset values at the balancing angle to prevent the gimbal from falling against one direction. Experimental studies of the balancing control performance of a single-wheel mobile robot validate the proposed control method.

Neural network based position estimation of mobile robot in slippery environment (Slip이 발생할 때 신경회로망을 이용한 이동로보트의 위치추정에 관한 연구)

  • 최동엽;조형석
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10a
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    • pp.133-138
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    • 1993
  • This paper presents neural network based position estimation method in slippery environment as an approach to solve one of problems which are engaged in dead reckoning method. Position estimator is composed of slip detector and linear velocity estimator. Both of them are based on the fact that dynamic characteristic of mobile robot in slippery environment is different from the case without slip. To find out the dynamic relation among driving torque, angular acceleration of driving wheel and linear acceleration of mobile robot, accelerometer is used for measuring acceleration of mobile robot and neural network is used for dynamic system identifier in slippery environment.

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Path Following Control of Mobile Robot Using Lyapunov Techniques and PID Cntroller

  • Jin, Tae-Seok;Tack, Han-Ho
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.11 no.1
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    • pp.49-53
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    • 2011
  • Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following controller based on the PID for mobile robot path following. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity and orientation tracking control of the nonholonomic WMR. The simulation results of wheel type mobile robot platform are given to show the effectiveness of the proposed algorithm.

A study on locomotion module of mobile robot for the blind guidance (맹인 안내용 mobile robot의 locomotion module에 관한 연구)

  • 김병수;신중섭;홍승홍
    • 제어로봇시스템학회:학술대회논문집
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    • 1986.10a
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    • pp.592-595
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    • 1986
  • This paper presents a mobile of robot (for the blind) commanded by written course route on MAP. Its locomotion module is composed of PWM motor driving unit, wheel's rotation measurement unit and display and keyboard unit. In algorithm, "COMMAND" and "NEXT PREDICTED POSITION" for locomotion are computed from the MAP and the next position is compared with the measured one. Also, locomotion method for the convenience of the blind is discussed and experimentally demonstrated. In the experiment, the average speed of robot is 0.4m/sec and the computation error of the map is negligible.

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Kinematic Modeling of Mobile Robots by Transfer Method of Generalized Coordinates (좌표계 전환기법을 활용한 모바일 로봇의 기구학 모델링)

  • 김도형;김희국;이병주
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.44-44
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    • 2000
  • Firstly, kinematic model of various type of wheels which includesskidding and skidding friction are presented. Tend, the transfer method of generalized coordinates which is useful to model the parallel mechanisms, can be applied to mobile robot by including such friction terms. Particularly, by appling the modeling method to mobile robot consisting of two conventional wheels and one caster wheel, forword/reverse kinematic modeling could be obtained without using pseudoinverse solutions.

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Searching Methods of Corresponding Points Robust to Rotational Error for LRF-based Scan-matching (LRF 기반의 스캔매칭을 위한 회전오차에 강인한 대응점 탐색 기법)

  • Jang, Eunseok;Cho, Hyunhak;Kim, Eun Kyeong;Kim, Sungshin
    • Journal of the Korean Institute of Intelligent Systems
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    • v.26 no.6
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    • pp.505-510
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    • 2016
  • This paper presents a searching method of corresponding points robust to rotational error for scan-matching used for SLAM(Simultaneous Localization and Mapping) in mobile robot. A differential driving mechanism is one of the most popular type for mobile robot. For driving curved path, this type controls the velocities of each two wheels independently. This case increases a wheel slip of the mobile robot more than the case of straight path driving. And this is the reason of a drifting problem. To handle this problem and improves the performance of scan-matching, this paper proposes a searching method of corresponding points using extraction of a closest point based on rotational radius of the mobile robot. To verify the proposed method, the experiment was conducted using LRF(Laser Range Finder). Then the proposed method is compared with an existing method, which is an existing method based on euclidian closest point. The result of our study reflects that the proposed method can improve the performance of searching corresponding points.

신경회로망을 이용한 이동로보트의 위치 추정에 관한 연구

  • 김재희;조형석
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2001.10a
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    • pp.214-219
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    • 2001
  • For navigation of a mobile robot, it is one of the essential tasks of find out its current position. Dead reckoning is the most frequently used method to estimate its position. However conventional dead reckoner is prone to give us false information on the robot position especially when the wheels are slipping. This paper proposes an improved dead reckoning scheme using neural networks. The network detects the instance of wheel slipping and estimates the linear velocity of the wheel ; thus it calculates current position and heading angel of a mobile robot. The structure and variables of the neural network are chosen based on the analysis of slip motion robot. The structure and variables of the neural network are chosen based on the analysis of slip motion characteristics. A series of experiments are performed to investigate the performance of the improved dead reckoning system.

Design and Experiment of Automatic Painting Robot Using Permanent Magnet Mobile Robot in Ship Cargo Tank (자석대차를 이용한 화물창 내 자동 도장로봇에 대한 연구)

  • Han, Seung-Chul;Kim, Jin-Ho;Kim, Je-Hoon;Lee, Sung-Kyu
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.12 no.12
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    • pp.5450-5456
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    • 2011
  • In order to build a ship, painting on ship cargo tank is one of the most dangerous parts as it involves working in high altitudes and a closed ship cargo tank. Therefore, researchers have been developing devices that will enable mobile robots to operate on vertical walls. The wall-climbing robots have been widely used to attach on the wall such as suction types. These types can be utilized regardless of the wall material. However, it is required to adhere and control the suction cups. To moderate this drawbacks, this paper proposes an automatic painting robot that uses a permanent magnet mobile robot. Using the magnetic characteristics, this robot can move on the boat vertically and horizontally even while hanging on the ceiling of the ship cargo tank. Also, we made a prototype to test adhesive force of the permanent magnet wheel and mobile robot as well as the towing capacity and auto-piloting ability.

Optimal Path Planning and Control of Omni-directional Autonomous Mobile Robot (전 방향 자율이동로봇의 최적 경로탐색 및 제어)

  • Hwang, Jong-Woo;Lee, Yong-Gu;Lee, Hyunk-Wan;Eom, Ki-Hwan
    • Proceedings of the IEEK Conference
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    • 2006.06a
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    • pp.945-946
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    • 2006
  • There are some difficulties to track an object with one-axis two-wheel drive method. When one-axis two-wheel drive robot wants to approach to the object, it should turn direction of the robot. At this time, direction of camera also would be changed. In this paper, we introduce omni-directional driving system that can move freely without turning the robot body, and propose the optimal approaching method.

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