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Keywords
(9)
Control Design
High Speed
IT Value
Kinematics and Dynamics
Mobile Robot
Motion Control
Path Following
Trajectory Tracking
Upper Bound
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High Speed Differential Drive Mobile Robot Path Following Control With Bounded Wheel Speed Commands
High Speed Differential Drive Mobile Robot Path Following Control With Bounded Wheel Speed Commands,10.1109/ROBOT.2007.363647,Giovanni Indiveri,Andrea
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High Speed Differential Drive Mobile Robot Path Following Control With Bounded Wheel Speed Commands
(
Citations: 9
)
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Giovanni Indiveri
,
Andreas Nüchter
,
Kai Lingemann
The great majority of
path following
control laws for either kinematical or dynamical
mobile robot
models are designed assuming ideal actuators, i.e. assuming that any com manded velocity or torque (in the kinematical and dynamical cases respectively) will be instantly implemented regardless of its value. Real actuators are far from being ideal. In particular, only bounded velocities and torques can be realized for any given command. With reference to the kinematical model of a differential drive mobile robot, a known
path following
control law is modified to account for actuator velocity saturation. The proposed solution is experimentally shown to be particularly useful for
high speed
applications where accounting for actuator velocity saturation may have a large influence on performance. In the last few years tremendous progress in
mobile robot
motion control
has been achieved. Typical problems addressed in literature include point stabilization,
trajectory tracking
and
path following
(3) for which either kinematic or dynamic solutions are derived. In real implementations it is important that the controller outputs are bounded to prevent hardware damages. When actuator bounds are not explicitly taken into account during the
control design
phase, a common practical solution is to artificially saturate the actuator inputs (i.e. the controller outputs) to their upper bounds at cost of performance. This paper proposes a
path following
control law that takes actuator velocity bounds explicitly into account. The resulting solution appears to be particularly well suited for
high speed
path following
applications. Given a curve l 2 Rp (where p = 2 or 3) parametrized by some scalar s2 R (by example the curvilinear abscissa), denoting with r2 Rq the pose (position and orientation) of the vehicle being ˙ r = f(r,
Conference:
International Conference on Robotics and Automation  ICRA
, pp. 22022207, 2007
DOI:
10.1109/ROBOT.2007.363647
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Citation Context
(7)
...in which the maximal set values can be incorporated [
9
], preserving the property of a closed loop, time invariant and globally stable controller...
Elena Digor
,
et al.
Exploration Strategies for a Robot with a Continously Rotating 3D Scan...
...common assumptions (for example, see [3][
4
][5])...
...In fact, we control the robot’s motion by adjusting the location of the ICR through the wheel velocities, from (
4
)...
...A trivial extension to the differential drive involves offsetting one wheel along the axis of rotation so the COM is not centered between the wheels as shown in Figure
4
. To analyze this configuration, the frame xy is placed at the COM, similar to the skidsteered drive, and the frame x’y’ is placed at the midpoint of the two wheels similar to the differential drive...
...Figure
4
: Toward heterogeneous differential drive: a trivial relaxation of one assumption of the differential drive...
Richard M. Voyles
,
et al.
Reconfigurable robots with Heterogeneous Drive Mechanisms: The kinemat...
...The kinematic model linking the scalars u, �, V r and Vl is [
16
]:...
Min Huang
,
et al.
Embedded fuzzy logic control of AGV in path tracking
...The model is different from other models in literature [2] [
3
] [7] in the following two points:...
Antonio Sgorbissa
,
et al.
A Lyapunovstable, sensorbased model for realtime pathtracking amon...
...Most approaches in literature deal with “trajectory tracking” instead of path tracking, by assuming a point that moves on the curve with an assigned law of motion, and by dealing with the problem of regulating the distance between the vehicle and the moving point [4][2][8][
3
][7]...
Antonio Sgorbissa
,
et al.
A minimalist feedback control for path tracking in Cartesian Space
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(
Citations: 167
)
M. Aicardi
,
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,
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Journal:
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)
Paul J. Besl
,
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Journal:
IEEE Transactions on Pattern Analysis and Machine Intelligence  PAMI
, vol. 14, no. 2, pp. 239256, 1992
Monte Carlo Localization: Efficient Position Estimation for Mobile Robots
(
Citations: 479
)
Dieter Fox
,
Wolfram Burgard
,
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,
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Conference:
National Conference on Artificial Intelligence  AAAI
, pp. 343349, 1999
Active Markov localization for mobile robots
(
Citations: 227
)
Dieter Fox
,
Wolfram Burgard
,
Sebastian Thrun
Journal:
Robotics and Autonomous Systems  RaS
, vol. 25, no. 34, pp. 195207, 1998
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans
(
Citations: 437
)
Feng Lu
,
Evangelos E. Milios
Journal:
Journal of Intelligent and Robotic Systems  JIRS
, vol. 18, no. 3, pp. 249275, 1997
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Citations
(9)
Exploration Strategies for a Robot with a Continously Rotating 3D Scanner
Elena Digor
,
Andreas Birk
,
Andreas Nüchter
Published in 2010.
Reconfigurable robots with Heterogeneous Drive Mechanisms: The kinematics of the Heterogeneous Differential Drive
Richard M. Voyles
,
Roy Godzdanker
Conference:
International Conference on Intelligent RObots and Systems  IROS  IROS
, pp. 13401346, 2010
Embedded fuzzy logic control of AGV in path tracking
Min Huang
,
Dagui Huang
Published in 2010.
A Lyapunovstable, sensorbased model for realtime pathtracking among unknown obstacles
(
Citations: 4
)
Antonio Sgorbissa
,
Alessandro Villa
,
Andrea Vargiu
,
Renato Zaccaria
Conference:
International Conference on Intelligent RObots and Systems  IROS  IROS
, pp. 29462951, 2009
A minimalist feedback control for path tracking in Cartesian Space
(
Citations: 4
)
Antonio Sgorbissa
,
Renato Zaccaria
Conference:
International Conference on Intelligent RObots and Systems  IROS  IROS
, pp. 29522957, 2009