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Control Laws Design and Validation of Autonomous Mobile Robot Off-Road Trajectory Tracking Based on ADAMS and MATLAB Co-Simulation Platform [chapter]

Yang. Yi, Fu. Mengyin, Zhu. Hao, Xiong. Guangming
2011 Applications of MATLAB in Science and Engineering  
, and presents novel and effective trajectory tracking control methods, including the longitudinal, lateral, and sensors pan-tilt control law.  ...  Rough-terrain driving research offers a challenge that the in-vehicle control system must be able to handle rough and curvy roads, and quickly varying terrain types, such as gravel, loose sand, and mud  ...  In the simulation environment, the extensive experiments of control methods of rough terrain trajectory tracking of mobile robot can be achieved.  ... 
doi:10.5772/20954 fatcat:lkzny2epxzcyfbsrdhd73nu4f4

Simulation Model of Mobile Roboton whith Lengthwise Divided Chassis

František Trebuňa, Ľubica Miková
2012 Acta Mechanica Slovaca  
Created was a simulation model of chassis mobile system in terms of kinematics, which will be usable in concept of chassis locomotion control on diverse terrain.  ...  Analyzed is a used concept of chassis motion control of mechatronic systems on the principle of differential wheel control for the task of active tracking of planned chassis path.  ...  robot [7] . chassis to better overcome terrain roughness.  ... 
doi:10.21496/ams.2012.034 fatcat:v3pqkyk6mfgixpo3mfjvko3tre

Special Issue: Robot Motion and Control

Krzysztof Kozłowski
2018 Journal of Intelligent and Robotic Systems  
He teaches and conducts research in the area of modeling and control of industrial and mobile robots.  ...  He is an author of the book titled Modelling and Identification in Robotics (Springer-Verlag, 1998).  ...  In paper no 8 authors discuss motion planning for a sixlegged walking robot in rough terrain, considering both the geometry of the terrain and its semantic labelling.  ... 
doi:10.1007/s10846-018-0920-7 fatcat:d2irw3rtzzcvhhp2f3v67x76ye

Deviation from Trajectory Detection in Vision based Robotic Navigation using SURF and Subsequent Restoration by Dynamic Auto Correction Algorithm

Debraj Ray, Amit Kumar, G. Zhihua, L. Wei-Hsin
2015 MATEC Web of Conferences  
During the course of navigation irregularities in the terrain, especially in an outdoor environment may deviate a robot from the track.  ...  In this paper we propose a novel algorithm that uses image matching using SURF to detect deviation of a robot from the trajectory and subsequent restoration by corrective operations.  ...  Legged robots have been used for traversal of unknown rough terrain [7] .  ... 
doi:10.1051/matecconf/20152804002 fatcat:h3ays2h4hver7ocuh5blkmxnse

Control Strategy for the Pseudo-Driven Wheels of Multi-Wheeled Mobile Robots Based on Dissociation by Degrees-of-Freedom

Huanan Qi, Bo You, Liang Ding, Wenhao Lian, Ye Yuan, Jiayu Li, Haibo Gao
2020 IEEE Access  
trajectory tracking control of wheeled mobile robots (WMRs).  ...  The holonomic features and omnidirectional mobility of robots with universal wheels have been widely studied in the context of trajectory tracking.  ... 
doi:10.1109/access.2020.3019342 fatcat:papbdjr3bfh3dimhl7zaxk57uu

Stability Constrained Mobile Manipulation Planning on Rough Terrain [article]

Jiazhi Song, Inna Sharf
2021 arXiv   pre-print
This paper presents a framework that allows online dynamic-stability-constrained optimal trajectory planning of a mobile manipulator robot working on rough terrain.  ...  The results demonstrate feasibility of online trajectory planning on varying terrain while satisfying the dynamic stability constraint.  ...  ACKNOWLEDGEMENT This work was supported by the National Sciences and Engineering Research Council (NSERC) Canadian Robotics Network (NCRN), the McGill Engineering Doctoral Awards and Summer Undergraduate  ... 
arXiv:2105.04396v1 fatcat:ui4swevygvcfzg53ojwrdvc4rq

Contact sensing and mobility in rough and cluttered environments

K. S. Kim, A. S. Kwok, L. Sentis
2013 2013 European Conference on Mobile Robots  
At the same time, it aims to endow capabilities for precise maneuvering in the rough terrains.  ...  In particular, we study a mobile robot's ability to precisely track a planned path on an inclined surface, then respond to unknown collisions by using force compliance and estimation of the obstacle's  ...  CONCLUSIONS We have developed unique methods to maneuver in rough terrains with unknown contacts.  ... 
doi:10.1109/ecmr.2013.6698854 dblp:conf/ecmr/KimKS13 fatcat:zqh4gb3v3vetrdetuvwkogld4u

A Dynamics Controller Design Method for Car-like Mobile Robot Formation Control

Baofang Wang, Chen Qian, Qingwei Chen, X. Lei, S.P. Kozaitis, C.-C. Ku
2018 MATEC Web of Conferences  
A dynamics controller design method based on characteristic model is proposed for the formation control problem of car-like mobile robots.  ...  Simulation results show that the proposed method can improve the responding speed of the mobile robots and maintain high formation accuracy.  ...  In trajectory tracking and formation control problems for car-like mobile robots, numerous researchers have focused on the design of kinematics controllers.  ... 
doi:10.1051/matecconf/201816006003 fatcat:u3pdtwcalrbjzjw5cwvtfjdfoq

Optimal Rough Terrain Trajectory Generation for Wheeled Mobile Robots

Thomas M. Howard, Alonzo Kelly
2007 The international journal of robotics research  
We present an approach to the mobile robot trajectory generation problem which achieves a high degree of generality and efficiency.  ...  The approach can accommodate such effects as rough terrain, actuator dynamics, wheel slip, and any other effects of interest.  ...  Acknowledgement This research was conducted at the Robotics Institute of Carnegie Mellon University under contract to NASA/JPL as part of the Mars Technology Program. 9  ... 
doi:10.1177/0278364906075328 fatcat:fx67v7xjsfezbjy2lkvv54ek3e

Mathematical Model of Four Wheeled Mobile Robot and its Experimental Verification

Ľubica Miková, Michal Kelemen, Dušan Koniar
2014 Applied Mechanics and Materials  
The paper deals with creation of a mathematical model of the mobile robot. For description of the kinematic variables such as position and velocity of each wheel a transformation matrix is used.  ...  The simulation model can be applied for calculation of assumed of the undercarriage centre of gravity and path of wheels.  ...  -0091-11 "Using of methods of experimental and numerical modeling for increasing of competitiveness and innovation of mechanical and mechatronical systems" and project FGV / 2013 /8.  ... 
doi:10.4028/www.scientific.net/amm.611.130 fatcat:4iwvyx7icnbwnoprv2wl2uusky

Decoupled control of posture and trajectory of the hybrid wheel-legged robot hylos

Ch. Grand, F. BenAmar, F. Plumet, Ph. Bidaud
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
This paper addresses the control of a hybrid wheellegged system evolving on rough terrain. First, the posture and trajectory parameters are introduced.  ...  Then, a decoupled posture and trajectory control algorithm based on the velocity model of the robot is proposed.  ...  Path tracking control of mobile robots is not a trivial problem [18] , [19] .  ... 
doi:10.1109/robot.2004.1302528 dblp:conf/icra/GrandAPB04 fatcat:keh7esazv5cr3gnczzbu6moqtu

A Spiral Dynamic Optimised Hybrid Fuzzy Logic Controller For A Unicycle Mobile Robot On Irregular Terrains

Abdullah M. Almeshal, Mohammad R. Alenezi, Talal H. Alzanki
2014 Zenodo  
In literature, researchers have presented the design of path tracking controllers of mobile robots on non-frictional surface.  ...  In this work, the robot is simulated to drive on irregular terrains with contrasting frictional profiles of peat and rough gravel.  ...  ACKNOWLEDGMENT The authors would like to thank the Public authority for applied education and training (PAAET) and Kuwait foundation for the advancement of science (KFAS), State of Kuwait for their support  ... 
doi:10.5281/zenodo.1097396 fatcat:qmpnqh4rcfclletcb66djwo5au

Probabilistic modeling and analysis of high-speed rough-terrain mobile robots

D. Golda, K. Iagnemma, S. Dubowsky
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
Mobile robots have important applications in high speed, rough-terrain scenarios. It would be desirable to construct accurate models of these systems.  ...  It is shown that stochastic analysis can be used effectively for modelbased analysis of real-world rough-terrain robotic systems.  ...  The motivation of this work is to develop a stochastic modeling and analysis method for high-speed mobile robots operating on rough terrain.  ... 
doi:10.1109/robot.2004.1307266 dblp:conf/icra/GoldaID04 fatcat:ogqnpdusgrazbbqmjkn7pdgia4

Speed control strategy of geophysical measurement platform for archaeological prospection: A conceptual study

Thi Thoa Mac, Cosmin Copot, Lieven Verdonck, Robin De Keyser
2016 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)  
This paper presents the conceptual study for speed control of geophysical measurement platform for archaeological prospection on challenging terrain using a fuzzy logic approach.  ...  The experiments are implemented on a Lego robot to test the proposed approach.  ...  In [9] , an intuitive nonlinear lateral control strategy for trajectory tracking in autonomous Alice -a modified Ford E-350 van is proposed.  ... 
doi:10.1109/smc.2016.7844817 dblp:conf/smc/MacCVK16 fatcat:d4x55geukzcn7o2cjld2sljyrq

Development of Novel Stair Climbing Robot

K. Madhu Babu
2019 International Journal for Research in Applied Science and Engineering Technology  
It will possess maximum gripping capacity and stability during motion in rough terrain. The robot has wireless control of which will steer the robot in the target area from remote.  ...  Over past few decades, attempts are made to develop robots that can move on rough terrains but only few robots that are suitable for rough terrains.  ...  INTRODUCTION Stair climbing robot is able to cope with stairs, very rough terrain, and is able to move fast on flat ground.  ... 
doi:10.22214/ijraset.2019.9002 fatcat:joksc5fvgvay3dr3ypxwwekkbi
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