1,032 research outputs found
ํ์ด์ด ๋ชจ๋ธ์ ์ฌ์ฉํ ์์จ ๋๋ฆฌํํธ ์ฃผํ ์ ์ด ์ค๊ณ ๋ฐ ๋ถ์
ํ์๋
ผ๋ฌธ (์์ฌ)-- ์์ธ๋ํ๊ต ๋ํ์ : ๊ณต๊ณผ๋ํ ๊ธฐ๊ณํญ๊ณต๊ณตํ๋ถ, 2019. 2. ์ด๋์ค.๋ณธ ๋
ผ๋ฌธ์์๋ Wheeled Mobile Robot(WMR)์์์จ๋๋ฆฌํํธ ๋๋ผ์ด๋น ์ปจํธ๋กค๋ฌ๋ฅผ ๋์์ธ ํ๊ณ ๋ถ์ํ๋ฉฐ, ์ด๋ฅผ ์์ฉ ํ๋ก๊ทธ๋จ์ธ CarSim์ ์ฌ์ฉํ ์๋ฎฌ๋ ์ด์
์ ํตํ์ฌ ์๊ณ ๋ฆฌ์ฆ์ ๊ฒ์ฆ ํ๋ค. ์ฒซ์งธ๋ก, WMR์ ๋ค์ด๋๋ฏน์ค์ ํ์ด์ด ๋ชจ๋ธ์ ์ ์ ํ๊ณ , ์ด๋ฌํ ๋ชจ๋ธ๋ก ์ธํ ์ ์ฝ ์ฌํญ์ ๋ํ์ฌ ๋
ผ์ํ๋ค. ๋ค์์ผ๋ก, ์ฌ๋์ ๊ด์ ์์ ๋๋ฆฌํํธ ๋๋ผ์ด๋น์ ๋ถ์ํ๊ณ , ๋๋ฆฌํํธ ๋๋ผ์ด๋น ์ ์ด๊ธฐ์ ์ ์ด ๋ชฉ์ ์ ์ ์ํ๋ค. (์ฐจ๋์ ๋ฐฉํฅ๊ณผ ์ ๊ฐ์๋๋ฅผ ์ ์ดํ๋ค.) ๋๋ฆฌํํธ ๋๋ผ์ด๋น ์ ์ด๊ธฐ๋ ๊ณ -๋ ๋ฒจ ์ ์ด, ๋ชฉํ ๊ฐ์ ์ฐพ๊ธฐ ์ํ ์ต์ ํ ๊ทธ๋ฆฌ๊ณ ๊ณ -๊ฒ์ธ ์ ์ด๋ก ๊ตฌ์ฑ๋๋ค. ๋ค์์ผ๋ก, ์ ์ดํ์ง ์๋ ์๋์ ๋ํ ๋ถ์์ ์งํํ์๋ค. ๋ง์ง๋ง์ผ๋ก ์ ์ํ ์๊ณ ๋ฆฌ์ฆ์ CarSim ์๋ฎฌ ๋ ์ดํฐ๋ฅผ ์ด์ฉํ์ฌ ๊ฒ์ฆํ์๋ค. ์ ์ ์ํ์ ๋๋ฆฌํํธ ์๋ฎฌ๋ ์ด์
๊ฒฐ๊ณผ์, ํค์ดํ ๊ฒฝ๋ก์ ๋ํ ๋๋ฆฌํํธ ์๋ฎฌ๋ ์ด์
๊ฒฐ๊ณผ๋ฅผ ์ ์ ํ๋ค.Control design and analysis of Wheeled Mobile Robot(WMR) autonomous drift-driving and the simulation experiment using the CarSim simulator are presented and the analysis of the controller proceeds. We first introduce WMR dynamics, tire model and problem formulation of the WMR. We then design drift-driving control using human strategy (control side slip angle and yaw rate). The drift-driving control consists of high-level control, optimization to find desired control input and high-gain control. We analyze the uncontrolled velocity dynamics and stability of the controller. The CarSim simulation results of drift-driving on steady-state equilibriums and the hairpin path with the desired yaw rate are provided.List of Figures - v
List of Tables - vi
Abbreviations - vii
1 Introduction - 1
1.1 Motivation and related works . . . . . . . . . . . . . . . . . . . . 1
1.2 Contribution of this work . . . . . . . . . . . . . . . . . . . . . . 3
2 System Modeling - 5
2.1 Model dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Tire model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 Problemformulation . . . . . . . . . . . . . . . . . . . . . . . . . 9
3 Drift-Driving Control Design - 10
3.1 High-level control . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.3 High-gain control . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4 Analysis of Control - 17
4.1 Internal dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.2 Stability analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5 Simulation Results - 25
5.1 Simulation setup . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.2 Steady-state drift-driving . . . . . . . . . . . . . . . . . . . . . . 27
5.3 Hairpin turn drift-driving . . . . . . . . . . . . . . . . . . . . . . 33
6 Conclusion and Future Work - 40
6.1 Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
6.2 Future work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41Maste
Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots
We show dynamic locomotion strategies for wheeled quadrupedal robots, which
combine the advantages of both walking and driving. The developed optimization
framework tightly integrates the additional degrees of freedom introduced by
the wheels. Our approach relies on a zero-moment point based motion
optimization which continuously updates reference trajectories. The reference
motions are tracked by a hierarchical whole-body controller which computes
optimal generalized accelerations and contact forces by solving a sequence of
prioritized tasks including the nonholonomic rolling constraints. Our approach
has been tested on ANYmal, a quadrupedal robot that is fully torque-controlled
including the non-steerable wheels attached to its legs. We conducted
experiments on flat and inclined terrains as well as over steps, whereby we
show that integrating the wheels into the motion control and planning framework
results in intuitive motion trajectories, which enable more robust and dynamic
locomotion compared to other wheeled-legged robots. Moreover, with a speed of 4
m/s and a reduction of the cost of transport by 83 % we prove the superiority
of wheeled-legged robots compared to their legged counterparts.Comment: IEEE Robotics and Automation Letter
Intelligent controllers for velocity tracking of two wheeled inverted pendulum mobile robot
Velocity tracking is one of the important objectives of vehicle, machines and mobile robots. A two wheeled inverted pendulum (TWIP) is a class of mobile robot that is open loop unstable with high nonlinearities which makes it difficult to control its velocity because of its nature of pitch falling if left unattended. In this work, three soft computing techniques were proposed to track a desired velocity of the TWIP. Fuzzy Logic Control (FLC), Neural Network Inverse Model control (NN) and an Adaptive Neuro-Fuzzy Inference System (ANFIS) were designed and simulated on the TWIP model. All the three controllers have shown practically good performance in tracking the desired speed and keeping the robot in upright position and ANFIS has shown slightly better performance than FLC, while NN consumes more energy
Research studio for testing control algorithms of mobile robots
In recent years, a significant development of technologies related to the control and communication of mobile robots, including Unmanned Aerial Vehicles, has been noticeable. Developing these technologies requires having the necessary hardware and software to enable prototyping and simulation of control algorithms in laboratory conditions.The article presents the Laboratory of Intelligent Mobile Robots equipped with the latest solutions. The laboratory equipment consists of four quadcopter drones (QDrone) and two wheeled robots (QBot), equipped with rich sensor sets, a ground control station with Matlab-Simulink software, OptiTRACK object tracking system, and the necessary infrastructure for communication and security.The paper presents the results of measurements from sensors of robots monitoring various quantities during work. The measurements concerned, among others, the quantities of robots registered by IMU sensors of the tested robots (i.e., accelerometers, magnetometers, gyroscopes and others)
Autonomous Hybrid Ground/Aerial Mobility in Unknown Environments
Hybrid ground and aerial vehicles can possess distinct advantages over
ground-only or flight-only designs in terms of energy savings and increased
mobility. In this work we outline our unified framework for controls, planning,
and autonomy of hybrid ground/air vehicles. Our contribution is three-fold: 1)
We develop a control scheme for the control of passive two-wheeled hybrid
ground/aerial vehicles. 2) We present a unified planner for both rolling and
flying by leveraging differential flatness mappings. 3) We conduct experiments
leveraging mapping and global planning for hybrid mobility in unknown
environments, showing that hybrid mobility uses up to five times less energy
than flying only
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