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Experimental Validation of an Underactuated Two-Wheeled mobile robot

IEEE-ASME TRANSACTIONS ON MECHATRONICS 2009年第2期14卷 252-257页

作者： Oryschuk, Patrick Salerno, Alessio Al-Husseini, Abdul M. Angeles, Jorge Dassault Syst Inc Montreal PQ H2Y 1N9 Canada McGill Univ Dept Mech Engn Montreal PQ H3A 2K6 Canada McGill Univ Ctr Intelligent Machines Montreal PQ H3A 2K6 Canada Canadian Space Agcy Space Technol St Hubert PQ J3Y 8Y9 Canada

Reported in this paper are the implementation and testing of the real-time control of a two-wheeled mobile robot. The robot is underactuated, its mobility and control inputs being three and two, respectively. The control challenge faced here is to reduce the oscillations of the intermediate body while following a desired path. A controller, introduced elsewhere, is implemented using a real-time operating system on a novel control architecture. The control algorithm was tested using three different test motions: translational, rotational, and uphill.

关键词： Linear-quadratic control mobile robot dynamics mobile robot motion planning mobile robots motion control

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Evaluation of Terrain Parameter Estimation using a Stochastic Terrain Model

Evaluation of Terrain Parameter Estimation using a Stochasti...

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Conference on Unmanned Systems Technology XI

作者： Dumond, Danielle A. Ray, Laura E. Trautmann, Eric Dartmouth Coll Thayer Sch Engn Hanover NH 03755 USA

ISBN: (纸本)9780819475985

Autonomous vehicles driving on off-road terrain exhibit substantial variation in mobility characteristics even when the terrain is horizontal and qualitatively homogeneous. This paper presents a simple stochastic model for characterizing observed variability in vehicle response to terrain and for representing transitions between homogeneous terrain with local variability or between heterogeneous terrain types. Such a model provides a means for more realistic evaluation of terrain parameter estimation methods through simulation. A stochastic terrain model in which friction angle and soil cohesion are represented by Gaussian random variables qualitatively represents observed variability in traction vs. slip characteristics measured experimentally. The stochastic terrain model is used to evaluate a terrain parameter estimation method in which terrain forces are first estimated independent of a terrain model, and subsequently, parameters of a terrain model, such as soil cohesion, friction angle, and stress distribution parameters are determined from estimated vehicle-terrain forces. Simulation results show drawbar pull vs. slip characteristics resulting from terrain parameter estimation are within statistical bounds established by the stochastic terrain model.

关键词： mobile robot dynamics terrain factors

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Identification of coupled mathematical models for underwater vehicles

Identification of coupled mathematical models for underwater...

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Oceans 2007 Europe International Conference

作者： Miskovic, N. Vukic, Z. Barisic, M. Univ Zagreb Fac Elect & Comp Engn Dept Control & Comp Engn Lab UnderWater Syst & T Zagreb 41000 Croatia

ISBN: (纸本)9781424406340

The paper presents the procedure for identification of coupled mathematical models for underwater vehicles. The procedure is performed with the use of a simple laboratory apparatus that consists of a webcam placed above the experimental pool. The video recording of the underwater vehicle in motion is then analyzed in order to obtain relative speeds within the camera frame. The experiment uses a simple maneuver which excites the vehicle in all controllable directions (in the horizontal plane). The results have shown that even though the system under observation is nonholonomic, the sway motion occurs due to coupling. This allows for determination of dynamic model in uncontrollable directions. The experimental data also show which terms in a general dynamic model can be omitted when dealing with micro underwater vehicles, in order to preserve the simplicity.

关键词： identification underwater vehicles mobile robot dynamics

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A 6 DoF navigation algorithm for autonomous underwater vehicles

A 6 DoF navigation algorithm for autonomous underwater vehic...

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Oceans 2007 Europe International Conference

作者： Lammas, Andrew K. Sammut, Karl He, Fangpo Flinders Univ S Australia Sch Informat & Engn Intelligent Syst Res Grp Adelaide SA 5042 Australia

ISBN: (纸本)9781424406340

The objective of this paper is to compare the performance of a new proposed Measurement Assisted Partial Re-sampling (MAPR) filter against the performance of the Extended Kalman filter and the Mixture Monte Carlo Localizer within the context of a navigation algorithm for a dynamic 6 DoF system. In this paper, an autonomous underwater vehicle (AUV) is used as the dynamic system. The performances of the above three filters in resolving a navigation solution are assessed by giving the AUV a sequence of trajectories that highlight the sensitivities of the navigation algorithm to noise. This paper demonstrates that the MAPR filter is capable of computing an estimate that, like the EKF, takes into account the dynamics of the system, but like all particle filters is also capable of estimating non-Gaussian distributions.

关键词： Bayes procedures Kalman filtering mobile robot dynamics navigation recursive estimation particle filters

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Identification of Coupled Mathematical Models for Underwater Vehicles

Identification of Coupled Mathematical Models for Underwater...

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Oceans 2007 - Europe, vol.2

作者： N. Miskovic Z. Vukic M. Barisic Department of Control and Computer Engineering University of Zagreb Zagreb Croatia

ISBN: (纸本)9781424406340;142440634X

关键词： Identification Underwater vehicles mobile robot dynamics

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A 6 DoF Navigation Algorithm for Autonomous Underwater Vehicles

A 6 DoF Navigation Algorithm for Autonomous Underwater Vehic...

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Oceans 2007 - Europe, vol.3

作者： Andrew K. Lammas Karl Sammut Fangpo He Intelligent Systems Research Group School of Informatics & Engineering Flinders University Adelaide SA Australia

ISBN: (纸本)9781424406340

关键词： Bayes Procedures Kalman Filtering mobile robot dynamics Navigation Recursive Estimation Particle Filters

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Issues in computational resource allocation in cooperative control 07

Issues in computational resource allocation in cooperative c...

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Proceedings of the 1st international conference on robot communication and coordination

作者： John P. Murphy Luke M. Wachter Laura E. Ray Thayer School of Engineering Dartmouth College Thayer School of Engineering Dartmouth College Hanover NH

ISBN: (纸本)9789639799080

This paper considers the problem of computational resource allocation for a team of dynamic mobile robots subject to limited communication and processing bandwidth, and uncertain state information. We describe a robot test bed, the Dynabot, that exhibits these constraints and characterize its information flow and state estimation accuracy. These models are used for simulating formation of a group of Dynabots, while illustrating resource allocation tradeoffs.

关键词： mobile robot dynamics mobile robot navigation cooperative systems

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Modeling and identification of passenger car dynamics using robotics formalism

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 2006年第3期7卷 349-359页

作者： Venture, Gentiane Ripert, Pierre-Jean Khalil, Wisama Gautier, Maxime Bodson, Philippe Univ Tokyo Sch Engn Nakamura & Yamane Lab Tokyo 1138656 Japan PSA Peugeot Citroen F-78943 Velizy Villacoublay France Ecole Cent Nantes Inst Rech Commun & Cybernet Nantes F-44321 Nantes 03 France Univ Nantes F-44321 Nantes 03 France

This paper deals with the problem of dynamic modeling and identification of passenger cars. It presents a new method that is based on robotics techniques for modeling and description of tree-structured multibody systems. This method enables us to systematically obtain the dynamic identification model, which is linear with respect to the dynamic parameters. The estimation of the parameters is carried out using a weighted least squares method. The identification is tested using vehicle dynamics simulation software used by the car manufacturer PSA Peugeot-Citroen in order to define a set of trajectories with good excitation properties and to determine the number of degrees of freedom of the model. The method has then been used to estimate the dynamic parameters of an experimental Peugeot 406, which is equipped with different position, velocity, and force sensors.

关键词： identification mobile robot dynamics modeling passenger car

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An implicit model for snake robot locomotion and gait optimization

An implicit model for snake robot locomotion and gait optimi...

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ASME International Mechanical Engineering Congress and Exposition

作者： Nirakh, Appa Rao Brennan, Sean N. Gandhi, Farhan S. Penn State Univ Dept Aerosp Engn University Pk PA 16802 USA

ISBN: (纸本)9780791842164

The present study aims to develop dynamic models suitable for the analysis and design of robotic snakes. Specifically, this research presents an implicit model with a high degree of design flexibility, namely the ability to change the number of links and to vary friction in the model formulation. The implicit model is validated numerically by comparison to an explicit model with small number of links. The validated implicit model is then used to establish the optimal gait for a six-link snake robot to achieve locomotion with minimal power consumption. An iterative search is conducted over a range of operational parameters - amplitude of angular displacement inputs at each joint, relative phase lag between the sinusoidal displacement inputs at the joints, and frequency of sine-wave input - to determine the optimally efficient gait. Results indicate that, for a particular forward velocity, an optimal gait exists that minimizes power consumption. This optimal solution is validated experimentally via tests performed on a six-link snake robot.

关键词： snake-robot serpentine locomotion optimal gait hyper-redundant mobile robot dynamics

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EVOLUTION OF PARAMETERS OF NONLINEAR POSITION CONTROL FOR DYNAMIC MODEL OF mobile robot WITH FRICTION

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IFAC Proceedings Volumes 2005年第1期38卷 361-366页

作者： Bakir Lacevic Jasmin Velagic Mujo Hebibovic University of Sarajevo Faculty of Electrical Engineering Zmaja od Bosne bb 71000 Sarajevo Bosnia and Herzegovina

In this paper, we propose two level control system for a mobile robot. The first level subsystem deals with the control of the linear and angular volocities using a multivariable PI controller described with a full matrix. The position control of the mobile robot represents the second level control, which is nonlinear. The nonlinear control design is implemented by a modified backstepping algorithm whose parameters are adjusted by a genetic algorithm, which is a robust nonlinear optimization method. The performance of the proposed system is investigated using a dynamic model of a nonholonomic mobile robot with friction. We present a new dynamic model in which the angular velocities of wheels are main variables. Simulation results show the good quality of position tracking capabilities a mobile robot with the various viscous friction torques.

关键词： mobile robot dynamics position control backstepping genetic algorithm friction

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