Dynamic modeling and control of nonholonomic mobile robot with lateral slip

Nonholonomic mobile robots are characterized by no-slip constraints. However, in many practical situations, slips are inevitable. In this work, we develop a theoretical and systematic framework to include slip dynamics into the overall dynamics of the wheeled mobile robot (WMR). Such a dynamic model is useful to understand the slip characteristics during navigation of the WMR. We further design a planner and a controller that allow efficient navigation of the WMR by controlling the slip. Preliminary simulation results are presented to demonstrate the usefulness of the proposed modeling and control techniques

屋外調査用自律移動型ロボットの不整地移動性能

早大学位記番号:新7829早稲田大

A Nonlinear Control Design For Tracked Robots With Longitudinal Slip

This paper presents an adaptive control strategy for a tracked mobile robot, in which the longitudinal slip of the left and right tracks are described by two unknown parameters. It is assumed that the kinematic model of the tracked robot is approximated by the one of a differential wheeled robot. An adaptive nonlinear feedback control law that compensates for the longitudinal slip is proposed to achieve a given trajectory tracking objective. Asymptotic stability of the close-loop system is ensured using an appropriate Lyapunov function. Numerical results show the benefits of the proposed approach. © 2011 IFAC.18PART 159325937Angelova, A., Matthies, L., Helmick, D., Sibley, G., Perona, P., Learning to predict slip for ground robots (2006) IEEE International Conference on Robotics and Automation, , Orlando, USAFan, Z., Koren, Y., Wehe, D., Tracked mobile robot control: Hybrid approach (1995) Control Engineering Practice, 3 (3), pp. 329-336Fierro, R., Lewis, F.L., Control of a nonholonomic mobile robot: Backstepping kinematics into dynamics (1997) Journal of Robotic Systems, 14 (3), pp. 149-163Fukao, T., Nakagawa, H., Adachi, N., Adaptive tracking control of a nonholonomic mobile robot (2000) IEEE Transactions on Robotics and Automation, 16 (5), pp. 609-615González, R., Fiacchini, M., Alamo, T., Guzmán, J.L., Rodriguez, F., Adaptive control for a mobile robot under slip conditions using LMI-based approach (2009) Proceedings of the European Control Conference, pp. 1251-1256. , Budapest, HungaryGonzález, R., Rodriguez, F., Guzmán, J.L., Berenguel, M., Localization and control of tracked mobile robots under slip conditions (2009) Proceedings of the IEEE International Conference on Mechatronics, , Málaga, SpainIagnemma, K., Ward, C.C., Classification-based wheel slip detection and detector fusion for mobile robots on outdoor terrain (2009) Autonomous Robot, 26, pp. 33-46Kim, D.-H., Oh, J.-H., Globally asymptotically stable tracking control of mobile robots (1998) Proceedings of the IEEE International Conference on Control Applications, pp. 1297-1301. , Trieste, ItalyLe, A.T., Rye, D.C., Whyte, H.F.D., Estimation of back-soil interactions for autonomous tracked vehicles (1997) Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1388-1393. , Albuquerque, New MexicoMartínez, J.L., Mandow, A., Morales, J., Pedraza, S., Cerezo, A.J.G., Approximating kinematics for tracked mobile robots (2005) International Journal of RoboticsResearch, 24 (10), pp. 867-878Moosavian, S.A.A., Kalantari, A., Experimental slip estimation for exact kinematics modeling and control of a tracked mobile robot (2008) Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 95-100. , Nice, FranceMorales, J., Martínez, J.L., Mandow, A., Cerezo, A.J.G., Pedraza, S., Power consumption modeling of skidsteer tracked mobile robots on rigid terrain (2009) IEEE Transactions on Robotics, 25 (5), pp. 1098-1108Morin, P., Samson, C., (2006) Trajectory Tracking for Nonholonomic Vehicles, in Lecture Notes in Control and Information Sciences, , Springer-Verlag, London, UKNourbakhsh, I.R., Siegwart, R., (2004) Introduction of Autonomous Mobile Robots, , The MIT Press, London, UKOjeda, L., Cruz, D., Reina, G., Borenstein, J., Currentbased slippage detection and odometry correction for mobile robots and planetary rovers (2006) IEEE Transactions on Robotics, 22 (2), pp. 366-378Reina, G., Ishigami, G., Nagatani, K., Yoshida, K., Vision-based estimation of slip angle for mobile robots and planetary rovers (2008) Proceedings of the IEEE International Conference on Robotics and Automation, pp. 486-491. , Pasadena, USASidek, N., Sarkar, N., Dynamic modeling and control of nonholonomic mobile robot with lateral slip (2008) Proceedings of the International Conference on Signal Processing, Robotics and Automation, pp. 66-74. , Cambridge, UKSong, Z., Zweiri, Y., Seneviratne, L.D., Althoefer, K., Non-linear observer for slip estimation of tracked vehicles (2008) Journal of Automobile Engineering, , Rome, ItalyWang, D., Low, C.B., Modeling and analysis of skidding and slipping in wheeled mobile robots: Control design perspective (2008) IEEE Transactions on Robotics, 24 (3), pp. 676-687Ward, C.C., Iagnemma, K., A dynamic-model-based wheel slip detector for mobile robots on outdoor terrain (2008) IEEE Transactions on Robotics, 24 (4), pp. 821-831Zhou, B., Han, J., Dynamic feedback tracking control of tracked mobile robots with estimated slipping parameters (2008) Proceedings of the IEEE World Congress on Computational Intelligence, pp. 1991-1996Zhou, B., Peng, Y., Han, J., UKF based estimation and tracking control of nonholonomic mobile robots with slipping (2007) Proceedings of the IEEE International Conference on Robotics and Biomimetics, pp. 2058-2063. , Sanya, Chin