Temat: wheeled mobile - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Motion planning of wheeled mobile robots subject to slipping
Autorzy:: Zadarnowska, K.
Oleksy, A.
Powiązania:: https://bibliotekanauki.pl/articles/384800.pdf
Data publikacji:: 2011
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: dynamics
kinematics
motion planning
slipping effect
wheeled mobile robot
Opis:: Most dynamic models of wheeled mobile robots assume that the wheels undergo rolling without slipping, thus in general wheeled mobile robots are considered as nonholonomic systems. This paper deals with the problem of motion planning of mobile robots, whose nonholonomic constraints have been violated during the motion. The slipping phase is studied in details. A static model of interaction forces between wheels and ground is adopted by means of the singular perturbation approach [2]. A novel control theoretic framework for mobile robots subject to slipping is defined: both kinematics and dynamics of a mobile robot are modeled as a control system with outputs, the performance of a locally controllable system is nontrivial, the Jacobian of the mobile robot is defined in terms of the linear approximation to the system [36]. A novelty of the methodology consists in respecting of the analogy between the stationary and mobile robots and deriving performance characteristics from local controllability. In this paper we address the problem of motion planning by means of the Jacobian pseudo inverse algorithm. The effectiveness of the Jacobian pseudo inverse motion planning algorithm is demonstrated with reference to differential drive type robot (Pioneer 2DX) subject to slipping.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 3; 49-58
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Mechanical properties of modern wheeled mobile robots
Autorzy:: Trojnacki, Maciej
Dąbek, Przemysław
Powiązania:: https://bibliotekanauki.pl/articles/384817.pdf
Data publikacji:: 2019
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: wheeled mobile robot
kinematics
dynamics
kinematic structure
wheel
Opis:: The paper discusses mechanical properties of modern wheeled mobile robots including aspects of kinematics and dynamics. Relevant features of these robots and of used types of wheels are considered. Robots are categorized into six groups according to kinematic structures, which can be obtained using various types of wheels. For each group mechanical properties, which characterize the robots are discussed. Various variants of the robots within particular groups are described and some examples of existing solutions are given. Individual variants of the robots are compared and assessed taking into account the possessed features.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2019, 13, 3; 3-13
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Modeling and control of a skid-steering mobile platform with coupled side wheels
Autorzy:: Tchoń, K.
Zadarnowska, K.
Juszkiewicz, Ł.
Arent, K.
Powiązania:: https://bibliotekanauki.pl/articles/953057.pdf
Data publikacji:: 2015
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: wheeled mobile platform
dynamics
motion planning
trajectory tracking
koła
platforma mobilna
dynamika
planowanie ruchu
śledzenie trajektorii
Opis:: This study is devoted to the modeling and control of a 4-wheel, skid-steering mobile platform with coupled side wheels, subject to lateral and longitudinal slips. The dynamics equations of the platform are derived, and 16 variants of motion distinguished. For the variant of motion allowing for all possible slips of the wheels two control problems are addressed: the motion planning problem and the trajectory tracking problem. The former problem is solved by means of a Jacobian motion planning algorithm based on the Endogenous Configuration Space Approach and, complementarily, using the Optimal Control Approach. The Nonlinear Model Predictive Control is applied to the latter problem. Performance of these control algorithms is illustrated by a sort of the parking problem. Significant robustness of the predictive control algorithm against the model uncertainty is revealed.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2015, 63, 3; 807-818
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Simulation of motion of a mobile robot on uneven terrain
Autorzy:: Sperzyński, Przemysław Grzegorz
Bałchanowski, Jacek
Gronowicz, Antoni
Powiązania:: https://bibliotekanauki.pl/articles/1839639.pdf
Data publikacji:: 2020
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: wheeled mobile robot
contact analysis
inverse kinematics computation
Opis:: In the paper, a kinematical model of the robot moving on uneven terrain has been presented. Configuration of the robot placed on uneven terrain is described, presenting the redundant set of variables that create the state of the robot. Inverse kinematics tasks have been defined, which as a result of various assumptions, gives the robot configuration. To solve the kinematics tasks, adequate closed-loop equations have been defined. Velocity equations of the point of the wheel contact with the ground have been presented with respect to the velocity of the platform itself and velocities of the robot actuators. Assuming constraints of the wheel movement causing a no-slip condition, dependencies between those velocities have been determined. This allowed one to determine velocities of the robot drives, so that the platform moves in the way specified by the user.
Źródło:: Journal of Theoretical and Applied Mechanics; 2020, 58, 2; 541-552
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 5.

Tytuł:: Trajectory tracking of a wheeled mobile robot with uncertainties and disturbances: proposed adaptive neural control
Autorzy:: Martins, N. A.
Alencar, M.
Lombardi, W. C.
Bertol, D. W.
Pieri, E. R.
Filho, H. F.
Powiązania:: https://bibliotekanauki.pl/articles/971045.pdf
Data publikacji:: 2015
Wydawca:: Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:: wheeled mobile robot
trajectory tracking
kinematic control
variable structure control
dynamic control
sliding mode theory
neural networks
Lyapunov theory
Opis:: This paper analyses a trajectory tracking control problem for a wheeled mobile robot, Rusing integration of a kinematic neural controller (KNC) and a torque neural controller (TNC), in which both the kinematic and dynamic models contain uncertainties and disturbances. The proposed adaptive neural controller (PANC) is composed of the KNC and the TNC and is designed with use of a modeling technique of Gaussian radial basis function neural networks (RBFNNs). The KNC is a variable structure controller, based on the sliding mode theory and is applied to compensate for the disturbances of the wheeled mobile robot kinematics. The TNC is an inertia-based controller composed of a dynamic neural controller (DNC) and a robust neural compensator (RNC) applied to compensate for the wheeled mobile robot dynamics, bounded unknown disturbances, and neural network modeling errors. To minimize the problems found in practical implementations of the classical variable structure controllers (VSC) and sliding mode controllers (SMC), and to eliminate the chattering phenomenon, the nonlinear and continuous KNC and RNC of the TNC are applied in lieu of the discontinuous components of the control signals that are present in classical forms. Additionally, the PANC neither requires the knowledge of the wheeled mobile robot kinematics and dynamics nor the timeconsuming training process. Stability analysis, convergence of the tracking errors to zero, and the learning algorithms for the weights are guaranteed based on the Lyapunov method. Simulation results are provided to demonstrate the eﬀectiveness of the proposed approach.
Źródło:: Control and Cybernetics; 2015, 44, 1; 47-98
0324-8569
Pojawia się w:: Control and Cybernetics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 6.

Tytuł:: Noise sensitivity of selected kinematic path following controllers for a unicycle
Autorzy:: Libal, U.
Płaskonka, J.
Powiązania:: https://bibliotekanauki.pl/articles/200552.pdf
Data publikacji:: 2014
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: wheeled mobile robots
path following
Serret-Frenet frame
model-based control
nonlinear control systems
nonholonomic constraints
probabilistic robotics
Opis:: In the paper a path following problem for a wheeled mobile robot of (2,0) type has been considered. The kinematic model of the robot was derived with respect to the Serret-Frenet frame. Two kinematic control algorithms - Samson and Morin-Samson - have been tested taking into account their sensitivity to a white noise with a zero mean appearing in the one of state variables. The properties of path following errors have been analysed using statistical techniques. The conclusions related to an acceptable level of noise and a range of applicability of the presented algorithms have been reached.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2014, 62, 1; 3-13
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 7.

Tytuł:: Experimental studies and modeling of four-wheeled mobile robot motion taking into account wheel slippage
Autorzy:: Jaskot, Anna
Posiadała, Bogdan
Powiązania:: https://bibliotekanauki.pl/articles/2086885.pdf
Data publikacji:: 2021
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: motion dynamics
wheel slippage
wheeled mobile platform
equations of motion
dynamika ruchu
poślizg kół
kołowa platforma mobilna
równania ruchu
Opis:: In the article the results of simulation and experimental studies of the movement of a four-wheeled mobile platform, taking into account wheel slip have been presented. The simulation results have been based on the dynamics of the four-wheel mobile platform. The dynamic model of the system motion takes into account the relationship between the active and passive forces accompanying the platform motion, especially during wheel slip. The formulated initial problem describing the motion of the system has been solved by the Runge-Kutta method of the fourth order. The proposed computational model including the platform dynamics model has been verified in experimental studies using the LEO Rover robot. The motion parameters obtained on the basis of the adopted computational model in the form of trajectories, velocities and accelerations have been compared with the results of experimental tests, and the results of this comparison have been included in the paper. The proposed computational model can be useful in various situations, e.g., real-time control, where models with a high degree of complexity are useless due to the computation time. The simulation results obtained on the basis of the proposed model are sufficiently compatible with the results of experimental tests of motion parameters obtained for the selected type of mobile robot.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 6; e139205, 1--7
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 8.

Tytuł:: Localization of the Wheeled Mobile Robot Based on Multi-Sensor Data Fusion
Autorzy:: Jaroszek, P.
Trojnacki, M.
Powiązania:: https://bibliotekanauki.pl/articles/384395.pdf
Data publikacji:: 2015
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: wheeled mobile robot
localization
environment map
laser scanner
inertial measurement unit
odometry
data fusion
Monte Carlo localization method
Opis:: The paper presents a method of localization of a mobile robot which relies on aggregation of data from several sensors. A review of the state of the art regarding methods of localization of ground mobile robots is presented. An overview of design of the four-wheeled mobile robot used for the research is given. The way of representation of robot environment in the form of maps is described. The localization algorithm which uses the Monte Carlo localization method is described. The simulation environment and results of simulation investigations are discussed. The measurement and control equipment of the robot is described and the obtained results of experimental investigations are presented. The obtained results of simulation and experimental investigations confirm the validity of the developed robot localization method. They are the foundation of further research, where additional sensors supporting the localization process could be used.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2015, 9, 3; 73-84
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 9.

Tytuł:: Model–based energy efficient global path planning for a four–wheeled mobile robot
Autorzy:: Jaroszek, P.
Trojnacki, M.
Powiązania:: https://bibliotekanauki.pl/articles/206564.pdf
Data publikacji:: 2014
Wydawca:: Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:: four-wheeled mobile robot
global path planning
robot dynamics model
heuristic algorithm
energy efficiency
Opis:: This paper concerns an energy efficient global path planning algorithm for a four-wheeled mobile robot (4WMR). First, the appropriate graph search methods for robot path planning are described. The A* heuristic algorithm is chosen to find an optimal path on a 2D tile-decomposed map. Various criteria of optimization in path planning, like mobility, distance, or energy are reviewed. The adequate terrain representation is introduced. Each cell in the map includes information about ground height and type. Tire-ground interface for every terrain type is characterized by coefficients of friction and rolling resistance. The goal of the elaborated algorithm is to find an energy minimizing route for the given environment, based on the robot dynamics, its motor characteristics, and power supply constraints. The cost is introduced as a function of electrical energy consumption of each motor and other robot devices. A simulation study was performed in order to investigate the power consumption level for diverse terrain. Two 1600 m2 test maps, representing field and urban environments, were decomposed into 20x20 equal-sized square-shaped elements. Several simulation experiments have been carried out to highlight the differences between energy consumption of the classic shortest path approach, where cost function is represented as the path length, and the energy efficient planning method, where cost is related to electrical energy consumed during robot motion.
Źródło:: Control and Cybernetics; 2014, 43, 2; 337-363
0324-8569
Pojawia się w:: Control and Cybernetics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 10.

Tytuł:: Experimental verification of H∞ control with examples of the movement of a wheeled robot
Autorzy:: Hendzel, Zenon
Penar, Paweł
Powiązania:: https://bibliotekanauki.pl/articles/2086871.pdf
Data publikacji:: 2021
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: differential game
H∞ control
wheeled mobile robot
gry różniczkowe
sterowanie H∞
kołowy robot mobilny
Opis:: The paper presents the results of experimental verification on using a zero-sum differential game and H∞ control in the problems of tracking and stabilizing motion of a wheeled mobile robot (WMR). It is a new approach to the synthesis of input-output systems based on the theory of dissipative systems in the sense of the possibility of their practical application. This paper expands upon the problem of optimal control of a nonlinear, nonholonomic wheeled mobile robot by including the reduced impact of changing operating condtions and possible disturbances of the robot’s complex motion. The proposed approach is based on the H∞ control theory and the control is generated by the neural approximation solution to the Hamilton-Jacobi-Isaacs equation. Our verification experiments confirm that the H∞ condition is met for reduced impact of disturbances in the task of tracking and stabilizing the robot motion in the form of changing operating conditions and other disturbances, which made it possible to achieve high accuracy of motion.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 6; e139390, 1--12
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 11.

Tytuł:: Fuzzy reactive control of wheeled mobile robot
Rozmyte sterowanie odruchowe mobilnego robota kołowego
Autorzy:: Hendzel, Z.
Powiązania:: https://bibliotekanauki.pl/articles/281987.pdf
Data publikacji:: 2004
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: behaviour control
fuzzy logic
wheeled mobile robots
Opis:: This paper proposed a sensor based navigation method with a fuzzy combiner for navigation of a mobile robot in uncertain environments. We discuss a fuzzy approach to path design and control of simple individual behaviours of a wheeled mobile robot in an unknown 2D environment with static obstacles. A strategy of reactive navigation is developed including three main behaviours: reaching the middle of a collision-free space behaviour, goal-seeking behaviour and wall-following behaviour. These simple individual behaviours are achieved by means of fuzzy inference systems. It is assumed that each low-level behaviour has been well developed at the design stage and then fused by the fuzzy combiner of behaviours to determine proper actions acting on the environment at the running stage. The fuzzy combiner can fuse low-level behaviours so that the mobile robot can go for the goal position without colliding with obstacles. The fuzzy combiner is a soft switch that chooses more than one low-level action to be active with different degrees through fuzzy combination at each time step. The output of the navigation level is fed into a fuzzy tracking controller that takes into account the dynamics of the mobile robot. A computer simulation have been conducted to illustrate the performance of these proposed fuzzy combiner of behaviours by a series of experiments on an emulator of the wheeled mobile robot Pioneer-2DX.
W pracy analizuje się zagadnienie nawigacji odruchowej mobilnego robota kołowego w nieznanym otoczeniu. Przedstawiono rozmyte podejście do projektowania trajektorii ruchu i sterowania prostych indywidualnych zachowań mobilnego robota kołowego w nieznanym środowisku dwuwymiarowym ze statycznymi przeszkodami. Stategię odruchowej nawigacji zastosowano do realizacji trzech elementarnych zachowań: osiągnij środek wolnej przestrzeni, idź do celu, podążaj przy ścianie. Powyższe elementarne zachowania zrealizowano stosując układy z logiką rozmytą. Zakłada się że każde z elementarnych zachowań realizowane przez niższy poziom sterowania jest poprawnie zaprojektowane, a ich koordynacja odbywa się na wyższym poziomie hierarchii sterowania przez rozmyty układ koordynacyjny, którego zadaniem jest wygenerowanie właściwych sterowań umożliwiających realizację zadania nawigacji. Rozmyty układ koordynacji elementarnych zachowań łączy te zachowania generując zadaną trajektorię ruchu wybranego punktu mobilnego robota kołowego. Trajektoria ta jest realizowana przez układ niskiego poziomu sterowania ruchem nadążnym mobilnego robota kołowego uwzględniającym dynamikę obiektu sterowania. W celu weryfikacji zaproponowanego rozwiązania przeprowadzono symulacje komputerowe na emulatorze mobilnego robota Pionner-2DX.
Źródło:: Journal of Theoretical and Applied Mechanics; 2004, 42, 3; 503-517
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 12.

Tytuł:: Modelling of dynamics of a wheeled mobile robot with mecanum wheels with the use of Lagrange equations of the second kind
Autorzy:: Hendzel, Z.
Rykała, Ł.
Powiązania:: https://bibliotekanauki.pl/articles/266008.pdf
Data publikacji:: 2017
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: wheeled mobile robots
mecanum wheels
mathematical model
robot mobilny
model matematyczny
dynamika obiektu
Opis:: The work presents the dynamic equations of motion of a wheeled mobile robot with mecanum wheels derived with the use of Lagrange equations of the second kind. Mecanum wheels are a new type of wheels used in wheeled mobile robots and they consist of freely rotating rollers attached to the circumference of the wheels. In order to derive dynamic equations of motion of a wheeled mobile robot, the kinetic energy of the system is determined, as well as the generalised forces affecting the system. The resulting mathematical model of a wheeled mobile robot was generated with the use of Maple V software. The results of a solution of inverse and forward problems of dynamics of the discussed object are also published.
Źródło:: International Journal of Applied Mechanics and Engineering; 2017, 22, 1; 81-99
1734-4492
2353-9003
Pojawia się w:: International Journal of Applied Mechanics and Engineering
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 13.

Tytuł:: Neural sensor-based navigation of wheeled mobile robot in unknown environment
Zastosowanie aproksymacyjnego programowania dynamicznego w nawigacji mobilnego robota kołowego
Autorzy:: Hendzel, Z.
Szuster, M.
Powiązania:: https://bibliotekanauki.pl/articles/277147.pdf
Data publikacji:: 2013
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: aproksymacyjne programowanie dynamiczne
sterowanie behawioralne
mobilny robot
nawigacja
neural dynamic programming
navigation
wheeled mobile robot
neural networks
Opis:: In presented paper a new approach to a collision-free trajectory generating for a wheeled mobile robot with Adaptive Critic Designs and Fuzzy Logic algorithm, is proposed. The presented discrete hierarchical control system consists of a trajectory generating algorithm based on a reactive navigation of the wheeled mobile robot in an unknown 2D environment with static obstacles, and a tracking control system. A strategy of reactive navigation is developed including two main behaviours: an obstacle avoiding behaviour and a goal-seeking behaviour, realised in a form of Adaptive Critic Design algorithms. These simple, individual behaviours are combined by the fuzzy combiner of behaviours that determines influence of the individual behaviours on the trajectory generation process, according to the environment conditions. The tracking control system is composed of two Dual-Heuristic Dynamic Programming algorithms, the supervisory term and the PD controller. Verification of the proposed control algorithm was realised using the mobile robot Pioneer 2-DX, equipped with one laser and eight sonar range finders, that provides object detection.
W prezentowanym artykule zaproponowano nowe podejście do generowania bezkolizyjnych trajektorii ruchu mobilnych robotów kołowych z zastosowaniem algorytmów adaptacyjnego krytyka oraz układów z logiką rozmytą. Zaprezentowany hierarchiczny układ sterowania składa się z warstwy generowania trajektorii ruchu bazującej na idei odruchowej nawigacji mobilnego robota kołowego w nieznanym środowisku 2D ze statycznymi przeszkodami oraz warstwy sterowania ruchem nadążnym. Sterowanie odruchowe obejmuje dwa podstawowe zadania: omijanie przeszkód oraz podążanie do celu, zrealizowane z zastosowaniem algorytmów adaptacyjnego krytyka. Te proste zachowania są łączone przez układ z logiką rozmytą, który określa wpływ poszczególnych zachowań na proces generowania trajektorii w zależności od warunków otoczenia sterowanego obiektu. Weryfikacja zaproponowanego algorytmu sterowania została zrealizowana z zastosowaniem mobilnego robota kołowego Pioneer 2-DX, wyposażonego w dalmierz laserowy i osiem sonarów ultradźwiękowych, służących do wykrywania przeszkód.
Źródło:: Pomiary Automatyka Robotyka; 2013, 17, 1; 114-120
1427-9126
Pojawia się w:: Pomiary Automatyka Robotyka
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 14.

Tytuł:: Stabilizacja ruchu mobilnego robota kołowego
Stabilization of motion of a mobile wheeled robot
Autorzy:: Hendzel, Z.
Powiązania:: https://bibliotekanauki.pl/articles/158269.pdf
Data publikacji:: 2004
Wydawca:: Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:: stabilizacja ruchu
mobilny robot kołowy
stabilization
mobile wheeled robot
stabilization of motion
Opis:: W niniejszej pracy do rozwiązania zadania stabilizacji zastosowano strukturę hierarchiczną. Na wyższym poziomie układu hierarchii wygenerowano zadaną trajektorię ruchu mobilnego robota bazując na pojęciu inwariantnej powierzchni. Wygenerowana trajektoria stanowiła zadaną trajektorię ruchu realizowaną przez odporny algorytm sterowania zrealizowany na niższym poziomie hierarchii. Poprawność rozwiązania generatora zadanej trajektorii oraz układu sterowania nadążnego w zadaniu stabilizacji została potwierdzona w badaniach symulacyjnych.
In this paper, for solution of stabilization, the hierarchic structure was applied. The desired trajectory of movement of movement of mobile robot, higher levelof arrangement of hierarchy, was generated based on the invariant manifold. The generated trajectory made up the desired trajectory of movement is realised by robust algorithm on lover level of hierarchy. Computersimulation have been conducted to illustrate the performance of the proposed approach by series of experiments on the emulator of wheeled mobile robot Pioneer.
Źródło:: Pomiary Automatyka Kontrola; 2004, R. 50, nr 11, 11; 14-37
0032-4140
Pojawia się w:: Pomiary Automatyka Kontrola
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 15.

Tytuł:: State of the Art in Predictive Control of Wheeled Mobile Robots
Autorzy:: Harasim, P.
Trojnacki, M.
Powiązania:: https://bibliotekanauki.pl/articles/384731.pdf
Data publikacji:: 2016
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: wheeled mobile robot
motion control
predictive control
model-based control
optimization
Opis:: The paper is concerned with the problem of tracking control of wheeled mobile robots (WMRs) using predictive control systems. Various kinematic structures of WMRs important from the point of view of motion control are discussed. A hierarchical approach to the problem of motion control of this kind of robots is presented. The problems of trajectory tracking and path following control of WMRs are briefly discussed. The methods of predictive control of WMRs are described in detail and the following aspects relevant to predictive control are considered: kinematic structures of robots, slip of wheels and its compensation, assumed constraints, methods of optimization of the objective function, problems of model nonlinearity, linearization and discretization, stability of the control system and use of the state observers.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 1; 34-42
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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