• Title/Summary/Keyword: Wheeled mobile robots

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Reasonable Hardware Design Methods for 2-Wheeled Mobile Robots : Based on Segway Type Mobile Robots (2륜 이동로봇의 합리적인 하드웨어 설계 노하우 : 세그웨이를 중심으로)

  • Joh, Jung-Woo;Park, Gwi-Tae
    • Proceedings of the IEEK Conference
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    • 2009.05a
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    • pp.109-111
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    • 2009
  • In this paper, we discuss how to design 2-wheeled mobile robot hard wares as reasonable and practical as possible. A segway type mobile robot consists of 2 wheels only, placed in parallel rather than horizon. 2-wheeled mobile robots make you overcome high cost and time consuming maintenance procedures of the robot by reducing the number of robot hardwares. The most challenging thing in a 2-wheeled mobile robot that has many more valid virtues than the traditional mobile robots is to make it balance itself whenever it stands still or goes forward. But balancing itself is not an easy matter and there are many researches and experiments on this issue. When researchers test theories on 2-wheeled mobile robots to improve its self balancing performance, they should consider how to design hard wares of that mobile robot. No matter how great those new theories are, if a testbed for those theories is not suitable, performance output would be poor and meaningless. In this point of view, to design a proper 2-wheeled mobile robot as a testbed is a very important issue with development of new theories. So we define 4 guide lines to design segway type mobile robots reasonably; about motor, battery, and MCU selection and shock-proof design with robust motor setting.

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Direct Adaptive Tracking Control For a Wheeled Mobile Robot (바퀴구동 이동로봇의 경로추적 직접적응제어)

  • Lee, Yong-Geun
    • The Transactions of the Korean Institute of Electrical Engineers P
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    • v.53 no.4
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    • pp.201-204
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    • 2004
  • In this paper, a direct adaptive tracking controller based Lyapunov method is designed for a wheeled mobile robots. A wheeled mobile robots have three degrees of freedom and two control variables. Therefore, it is difficult to control a mobile robot using the general linear control. We introduce two kinds of Lyapunov function for the design of the controller and verify the controller. A mobile robots using the designed adaptive direct tracking controller is well-behaved and is easily implemented.

Modeling of Wheeled-Mobile Robots and Path-Tracking using Time-Scaling Method (구륜이동로봇의 모델링과 Time-Scaling 기법을 이용한 경로추적)

  • Kim, Choung-Soo
    • Journal of the Korea Computer Industry Society
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    • v.5 no.9
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    • pp.993-1004
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    • 2004
  • We propose the method for kinematic and dynamic modeling and Path-tracking of four-wheeled mobile robots with 2 d.o.f having the limited drive-torques. Controllability of wheeled-mobile robots is revealed by using the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that the method proposed by this paper is efficient.

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Modeling and Path-Tracking of Wheeled-Mobile Robots having the Limited Drive-Torques (구동토크의 제약을 갖는 구륜이동로봇의 모델링과 경로추적)

  • 김종수;문종우
    • The Transactions of the Korean Institute of Electrical Engineers D
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    • v.52 no.8
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    • pp.482-491
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    • 2003
  • In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o.f haying the limited drive-torques. Controllability of wheeled-mobile robots is revealed by the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to drive the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

A Precision Control of Wheeled Mobile Robots Using Neural Network (신경회로망을 이용한 이동로봇의 정밀 제어)

  • Kim, Moo-Jon;Lee, Young-Jin;Park, Sung-Jun;Lee, Man-Hyung
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.8
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    • pp.689-696
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    • 2000
  • In this paper we propose an eminent controller for wheeled mobile robots. This controller consists of an input-output linearization controller trying to stabilize the system and a neural network controller to compensate for uncertainties. The uncertainties are divided into two parts. First unstructured uncertainties include the elements related with system order such as friction disturbance. Second structure uncertainties are the incorrect system parameters A neural network structure of the proposed overall controller learns structural errors of the wheeled mobile robots with uncertainties and includes the neural network output. This controller learns quickly the model and has good tracking performance Simulation results show that the proposed controller is more efficient than analog controllers.

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Output Feedback Tracking Control of Wheeled Mobile Robots with Kinematic Disturbances (이동로봇의 기구학 외란 보상을 위한 출력 궤환 제어)

  • Chwa, Dongkyoung
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.65 no.12
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    • pp.2053-2056
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    • 2016
  • In this paper, we propose an output feedback tracking control method for the wheeled mobile robots with kinematic disturbances. The kinematic disturbances should be compensated to avoid the performance degradation. Also, the unavailable velocity of the mobile robot should be estimated. These should be estimated together by designing the nonlinear observer. Based on these estimates, the output feedback controller can be designed. The stability of the mobile robot control systems using the proposed method is rigorously analyzed and the simulation results are also provided to validate the proposed method.

Efficient Minimum-Time Cornering Motion Planning for Differential-Driven Wheeled Mobile Robots with Motor Control Input Constraint (모터 제어 입력 제한 조건이 고려된 차륜 이동 로봇을 위한 효율적인 최소 시간 코너링(Cornering) 주행 계획)

  • Kim, Jae-Sung;Kim, Byung-Kook
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.1
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    • pp.56-64
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    • 2013
  • We propose an efficient minimum-time cornering motion planning algorithms for differential-driven wheeled mobile robots with motor control input constraint, under piecewise constant control input sections. First, we established mobile robot's kinematics and dynamics including motors, divided the cornering trajectory for collision-free into one translational section, followed by one rotational section with angular acceleration, and finally the other rotational section with angular deceleration. We constructed an efficient motion planning algorithm satisfying the bang-bang principle. Various simulations and experiments reveal the performance of the proposed algorithm.

Tracking Control of Wheeled Mobile Robots Using Pseudo-Backstepping Method (유사 역보행 기법을 이용한 이동로봇의 추종제어)

  • Park, Jae-Yong;Chwa, Dong-Kyoung;Hong, Suk-Kyo
    • Proceedings of the KIEE Conference
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    • 2005.10b
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    • pp.415-417
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    • 2005
  • This paper proposes tracking control method using pseudo-backstepping control for wheeled mobile robots with nonholonomic constraints. First, the pseudo commands for forward linear velocity and angular velocity are chosen based on the kinematics. Then, the actual torque control inputs are designed to make the actual forward linear velocity and angular velocity follow the pseudo commands. Both semi-global practical posture(position and heading direction angle) stabilization and trajectory tracking are achieved for reference trajectories such as straight line and sinusoidal curve. The stability and performance analysed and numerical simulations are performed to confirm the effectiveness of the proposed scheme.

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Dynamic Modeling and Path-tracking of Differential Drive Wheeled-Mobile Robots (구동토크의 제약을 갖는 차동 구륜이동로봇의 동역학 모델링과 경로추적)

  • Moon, Jong-Woo
    • The Transactions of the Korean Institute of Electrical Engineers P
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    • v.51 no.1
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    • pp.45-51
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    • 2002
  • In this paper are presented dynamic modeling and path-tracking of differential drive wheeled-mobile robots(WMRs) having the limited drive-torques. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling method. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

Algorithm for Autonomous Wall-Following of Wheeled Mobile Robots Using Reference Motion Synthesis and Generation of Hybrid System (하이브리드 시스템의 기준동작 구성과 생성에 의한 차륜형 이동로봇의 자율 벽면-주행 알고리즘)

  • Lim, Mee-Seub;Im, Jun-Hong
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.7
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    • pp.586-593
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    • 2000
  • In this paper we propose a new approach to the autonomous wall-following of wheeled mobile robots using hybrid system reference motion synthesis and generation. The hybrid system approach is in-troduced to the motion control of nonholonomic mobile robots for the indoor navigation problems. In the dis-crete event system the discrete states are defined by the user-defined constraints and the reference mo-tion commands are specified in the abstracted motions. The hybrid control system applied for the non-holonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoid-ance for the indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation in indoor environments.

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