Control Laws Design and Simulation Validation of Autonomous Mobile Robot Off-Road Trajectory Tracking
نویسنده
چکیده
Autonomous wheeled skid-steering mobile robot off-road trajectory tracking is focused on. According to the kinematics and dynamics analysis of the robot, a constraint of the robot motion is put forward. As uncertain disturbance factors exist during the robot off-road running, a novel fuzzy lateral control law is proposed, which makes the robot motion globally asymptotically stable. According to the requirement of off-road running, the longitudinal control law and the sensor pan-tilt control law are also presented. Based on ATRV2 mobile robot and the off-road terrain information, using virtual prototype technology, ADAMS and MATLAB co-simulation platform is established, and the robot simulation running experiment, the off-road trajectory tracking, is performed in the environment. The simulation results indicate that the control laws are robust and effective for the mobile robot off-road running.
منابع مشابه
Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملTrajectory Tracking Weeled Mobile Robot Using Backstepping Method with Connection off Axle Trailer
The connection of the tractor to the inactive trailer or motor vehicle causes a motion control problem when turning in the screw, forward or backward movements and high speeds. This is due to the inactive trailer being controlled by the tracking using a physical link that is not affected by the movement. Trailers usually take tracks under these conditions. This phenomenon is called Jack Knife. ...
متن کاملTrajectory Tracking of a Mobile Robot Using Fuzzy Logic Tuned by Genetic Algorithm (TECHNICAL NOTE)
In recent years, soft computing methods, like fuzzy logic and neural networks have been presented and developed for the purpose of mobile robot trajectory tracking. In this paper we will present a fuzzy approach to the problem of mobile robot path tracking for the CEDRA rescue robot with a complicated kinematical model. After designing the fuzzy tracking controller, the membership functions an...
متن کاملDelay Compensation on Fuzzy Trajectory Tracking Control of Omni-Directional Mobile Robots
This paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. Fuzzy logic control (FLC) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances. On the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...
متن کاملA Novel Robust Adaptive Trajectory Tracking in Robot Manipulators
In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2008