Journal ArticleDOI
Modeling and Analysis of Skidding and Slipping in Wheeled Mobile Robots: Control Design Perspective
Danwei Wang,Chang Boon Low +1 more
TLDR
This paper presents kinematic models that explicitly relate perturbations to the vehicle skidding and slipping, and relates the WMR's maneuverability with the vehicle controllability that provides a measure on the W MR ability to track a trajectory in the presence of wheel skiddingAbstract:
This paper aims to give a general and unifying presentation on modeling of wheel mobile robots (WMRs) in the presence of wheel skidding and slipping from the perspective of control design. We present kinematic models that explicitly relate perturbations to the vehicle skidding and slipping. Four configurations of mobile robots are considered, and perturbations due to skidding and slipping are categorically classified as input-additive, input multiplicative, and/or matched/unmatched perturbations. Furthermore, we relate the WMR's maneuverability with the vehicle controllability that provides a measure on the WMR ability to track a trajectory in the presence of wheel skidding and slipping. These classifications and formulations lay a base for the deployments of various control design techniques to overcome the addressed perturbations.read more
Citations
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Journal ArticleDOI
Global Tracking Control of Underactuated Ships With Input and Velocity Constraints Using Dynamic Surface Control Method
TL;DR: This paper proposes a global tracking control method for underactuated ships with input and velocity constraints using the dynamic surface control (DSC) method, where the control structure is formed in a modular way that cascaded kinematic and dynamic linearizations can be achieved similarly as in the backstepping method.
Journal ArticleDOI
Kinematic Modeling and Analysis of Skid-Steered Mobile Robots With Applications to Low-Cost Inertial-Measurement-Unit-Based Motion Estimation
TL;DR: Based on the analysis of the kinematics of the skid-steered mobile robot, the underlying geometric and kinematic relationships between the wheel slips and locations of the instantaneous rotation centers are revealed.
Journal ArticleDOI
Research Advances and Challenges of Autonomous and Connected Ground Vehicles
TL;DR: A representative architecture of CAVs is introduced and the latest research advances, methods, and algorithms for sensing, perception, planning, and control of CAV are surveyed and their significant research issues enumerated.
Journal ArticleDOI
Minimizing Energy Consumption of Wheeled Mobile Robots via Optimal Motion Planning
Shuang Liu,Dong Sun +1 more
TL;DR: In this article, a new optimal motion planning aiming to minimize the energy consumption of a wheeled mobile robot in robot applications is presented. But this method is not suitable for wheeled vehicles.
Journal ArticleDOI
Disturbance Attenuation Tracking Control for Wheeled Mobile Robots With Skidding and Slipping
TL;DR: A robust tracking control scheme is proposed for wheeled mobile robots with skidding, slipping, and input disturbance by considering the prescribed tracking performance requirement and using the disturbance observer.
References
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Book
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TL;DR: In this paper, the focus is on adaptive nonlinear control results introduced with the new recursive design methodology -adaptive backstepping, and basic tools for nonadaptive BackStepping design with state and output feedbacks.
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TL;DR: In this article, the authors present an approach to the prediction of normal pressure distribution under a track and a simplified method for analysis of tracked vehicle performance, based on the Cone Index.
Proceedings ArticleDOI
A stable tracking control method for an autonomous mobile robot
TL;DR: The control rule and limiting method proposed are robot independent and hence can be applied to various kinds of mobile robots with a dead reckoning ability and was implemented on the autonomous mobile robot Yamabico-11.
Journal ArticleDOI
Control of chained systems application to path following and time-varying point-stabilization of mobile robots
TL;DR: Application to the control of nonholonomic wheeled mobile robots is described by considering the case of a car pulling trailers, and globally stabilizing time-varying feedbacks are derived.
Journal ArticleDOI
Structural properties and classification of kinematic and dynamic models of wheeled mobile robots
TL;DR: The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed and it is shown that, for a large class of possible configurations, they can be classified into five types, characterized by generic structures of the model equations.