Humanoid robots, unmanned rovers, entertainment pets, drones, and so on are great examples of mobile robots. They can be distinguished from other robots by their ability to move autonomously, with ...

https://journals.sagepub.com/doi/pdf/10.1177/1729881419839596

A review of mobile robots: Concepts, methods, theoretical framework, and applications

Omni-directional mobile robot controller based on trajectory linearization

This paper describes a general approach to the kinematics modeling and analyses of articulated rovers traversing uneven terrain. The model is derived for full 6DOF (6-degree-of-freedom) motion, enabling movements in the x,y, and z directions, as well as pitch, roll, and yaw rotations. Differential kinematics is derived for the individual wheel motions in contact with the terrain. The resulting equations of the individual wheel motions are then combined to form the composite equation for the rover motion. Three types of kinematics, i.e., navigation, actuation, and slip kinematics are identified, and the equations and application of each are discussed. The derivations are specialized to Rocky 7, a highly articulated prototype Mars rover, to illustrate the developed methods. Simulation results are provided for the motion of the Rocky 7 over several terrains, and various motion profiles are provided to explain the behavior of the rover.

Kinematics modeling and analyses of articulated rovers

Swedish wheeled robots have received growing attention over the last few years. Their kinematic models have interesting properties in terms of mobility and possible singularities. This paper addresses the issue of kinematic modeling, singularity analysis, and motion control for a generic vehicle equipped with N Swedish wheels.

Swedish Wheeled Omnidirectional Mobile Robots: Kinematics Analysis and Control

The aim of this paper is to provide a global overview of mobile robot control and navigation methodologies developed over the last decades. Mobile robots have been a substantial contributor to the welfare of modern society over the years, including the industrial, service, medical, and socialization sectors. The paper starts with a list of books on autonomous mobile robots and an overview of survey papers that cover a wide range of decision, control and navigation areas. The organization of the material follows the structure of the author’s recent book on mobile robot control. Thus, the following aspects of wheeled mobile robots are considered: kinematic modeling, dynamic modeling, conventional control, affine model-based control, invariant manifold-based control, model reference adaptive control, sliding-mode control, fuzzy and neural control, vision-based control, path and motion planning, localization and mapping, and control and software architectures.

Mobile Robot Control and Navigation: A Global Overview

A dynamic model is presented for omnidirectional wheeled mobile robots, including wheel/motion surface slip. We derive the dynamics model, experimentally measure friction coefficients, and measure the force to cause slip (to validate our friction model). Dynamic simulation examples are presented to demonstrate omnidirectional motion with slip. After developing an improved friction model, compared to our initial model, the simulation results agree well with experimentally-measured trajectory data with slip. Initially, we thought that only high robot velocity and acceleration governed the resulting slipping motion. However, we learned that the rigid material existing in the discontinuities between omnidirectional wheel rollers plays an equally important role in determining omnidirectional mobile robot dynamic slip motion, even at low rates and accelerations.

Dynamic model with slip for wheeled omnidirectional robots

A dynamic model is presented for omni-directional wheeled mobile robots, including wheel/motion surface slip. We derive the dynamics model, experimentally measure friction coefficients, and measure the force to cause slip (to validate our friction model). Dynamic simulation examples are then presented to demonstrate omni-directional motion with slip. After developing an improved friction model, compared to our initial model, the simulation results agree well with experimentally-measured trajectory data with slip. Initially we thought that only high robot velocity and acceleration governed the resulting slipping motion. However, we learned that the solid material existing in the discontinuities between omni-directional wheel rollers plays an equally important role in determining omni-directional mobile robot dynamic slip motion, even at low rates and accelerations.Copyright © 2002 by ASME

Brian Edward Carter

Papers

Dynamic model with slip for wheeled omnidirectional robots

Wheeled omni-directional robot dynamics including slip

Omni-directional locomotion for mobile robots