Hostname: page-component-cd9895bd7-jkksz Total loading time: 0 Render date: 2024-12-23T20:34:32.988Z Has data issue: false hasContentIssue false
  • English
  • Français

Modeling and path-tracking control of a mobile wheeled robot with a differential drive

Published online by Cambridge University Press:  09 March 2009

R. M. DeSantis
R. M. DeSantis
Affiliation:
Ecole Polytechnique de Montreal, DEGEGI, 2900 Edouard Montpetit, Montreal (Canada) H3C 3A7
Get access Rights & Permissions [Opens in a new window]

Summary

Topics relevant to modeling and control of mobile wheeled robots with a differential drive are discussed by assuming a motion that is planar and free from lateral and longitudinal slippages, and by taking into account dynamic and kinematic properties of the vehicle. Based on the concept of geometric path-tracking, a controller is designed that is a memoryless function of the lateral, heading, and velocity path-tracking offsets. If these offsets are kept small and the assigned tracking velocity is constant, then this controller may be given a linear, time-invariant and decoupled PID (Proportional + integral + derivative) structure.

Keywords

Mobile robotsMotion controlPath trackingSlippageAutonomousNon-holonomic constraints.
Type
Articles
Information
Robotica , Volume 13 , Issue 4 , July 1995 , pp. 401 - 410
Copyright
Copyright © Cambridge University Press 1995

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Anderson, S.E., Proceedings of the 3rd International Conference on Automated Vehicle Systems,Stockholm, Sweden(October 1985). pp. 199–208Google Scholar
2.Cox, I.J. and Wilfong, G.T., Autonomous Robot Vehicles (Springer-Verlag, New York, 1990).CrossRefGoogle Scholar
3.Giralt, G., Les Robots Mobiles Autonomes (Publication No. 87308 du LAAS, Toulouse, 1988).Google Scholar
4.Hemami, A., Mehrabi, M.G. and Cheng, R.M.H., “A Synthesis of an Optimal Control Law for Path-Tracking in Mobile Robots” Automatica 8, No. 2, 383–387 (1992).CrossRefGoogle Scholar
5.Shladover, S.E. et al. (13 co-authors), “Automatic Vehicle Control Developments in the Path Program” IEEE Trans on Vehicular Technology 40, No. 1, 1–8 (12, 1991).CrossRefGoogle Scholar
6.DeSantis, R.M., “Path-Tracking for Tractor-Trailer-like Robots” Int. J. Rob. Res. (In Press).Google Scholar
7.DeSantis, R.M., “Path-Tracking for a Car-like Robot with Single and Double Steering” IEEE Trans on Vehicular Technology. (In Press).Google Scholar
8.Borenstein, J. and Koren, Y., “Motion Control Analysis of a Mobile Robot” J. Dynamic Systems Measurement and Control, Trans. ASME 109, 73–79 (06, 1987).CrossRefGoogle Scholar
9.Saha, K.S. and Angeles, J., “Dynamics of Nonholonomic Mechanical Systems Using a Natural Orthogonal Complement” Trans. of the ASME Journal of Applied Mechanics 58, 238–243 (1991).CrossRefGoogle Scholar
10.DeSantis, R.M. and Hurteau, R., “Veicoli Autonomi: Controllo del Movimento con Technica Sliding Mode” Automazione e Strumentazwne 3, 137–150 (1990).Google Scholar
11.Fenton, R.E., “On the Steering of Automated Vehicles: Theory and Experiments” IEEE Trans. on Automatic Control AC-21, No. 3, 306–315 (1976).CrossRefGoogle Scholar
12.Shin, D.H., Singh, S. and Lee, J.J., “Explicit Path-Tracking by Autonomous Vehicles” Robotica 10, part 6, 537–554 (1992).CrossRefGoogle Scholar
13.Kanayama, Y., Kimura, Y., Miyazaki, F. and Noguchi, T., “A Stable Tracking Control Method for an Autonomous Mobile Robot” IEEE International Conference on Robotics and Automation,Cincinnati, Ohio (1990) pp. 384–389.Google Scholar
14.D'Andrea-Novel, B., Bastin, G. and Campion, G., “Dynamic Feedback Linearization of Nonholonomic Wheeled Mobile Robots”, IEEE International Conference on Robotics and Automation,Nice, France (1992) pp. 2527–2533.Google Scholar
15.Walsh, G., Tilbury, D., Sastry, S., Murray, R. and Laumond, J.P., “Stabilization of Trajectories for Systems witn Nonholonomic Constraints” IEEE International Conference on Robotics and Automation,Nice, France (1992) pp. 1999–2004.Google Scholar
16.DeSantis, R.M., “Modeling and Control of a Loading- Hauling-Dumping Truck” (submitted to the IEEE Trans on Vehicular Technology).Google Scholar
17.Chestnut, H. and Mayer, R.W., Servomechanism and Regulating System Design (John Wiley & Sons, New York, 1959).Google Scholar
18.Kane, T.R. and Levinson, D.A., “The Use of Kane's Dynamical Equations in Robotics” Int. J. Robotic Researc 2, No. 3, 3–21 (1983).CrossRefGoogle Scholar
19.DeSantis, R.M., “Dynamic Modeling of Mechaiical Systems subject to Holonomic and Nonholonomic, constraints” EPM/RT-94/04 (Ecole Polytechnique de Montréal, 1994).Google Scholar
20.Kane, T.R., Likins, P.W. and Levinson, D.A., Spacecraft Dynamics (McGraw-Hill, New York, 1983).CrossRefGoogle Scholar
21.Latombe, J.C., Robot Motion Planning (Kluwer Acad. Pub., Boston, 1991).CrossRefGoogle Scholar
22.Khalil, H.K., Nonlinear Systems (MacMillan Pub. Co., New York, 1992).Google Scholar
23.Chen, C.-T., Linear System Theory and Design (Holt, Rinehart and Winston, Inc., New York, 1984).Google Scholar
24.Whitney, D.E., “The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators” J. Dynamic Systems Measurement and Control, Trans. ASME 122, 303–309 (1982).Google Scholar
25.Lee, A.Y., “A Preview Steering Autopilot Control Algorithm for Four-Wheel Steering Passenger Vehicles” J. Dynamic Systems Measurement and Control, Trans. ASME 114, 401–409 (1992).CrossRefGoogle Scholar
26.Kehtarnavaz, N., Griswold, N.C. and Lee, J.S., Visual Control of an Autonomous Vehicle (BART): The “Vehicle-Following Problem” IEEE Trans. on Vehicular Technology 40, No. 3, 654–662 (1991).CrossRefGoogle Scholar
27.Yong, C.C. and Hyung, S.C., “A Stereo Vision-Based Obstacle Detecting Method for Mobile Robot Navigation” Robotica 12, part 3, pp. 203–216, 1994.Google Scholar
28.St-Amant, M., Laperriere, Y., Hurteau, R. and Chevrette, G., “A Simple Robust Vision System for Underground Vehicle Guidance” Proc. Int. Symp. on Mine Mechanization and Automation,Colorado School of Mines,Golden, CO (1991) pp. 6.1–6.20.Google Scholar
29.Hurteau, R., St-Amant, M., Laperriere, Y., Chevrette, G., “Optical Guidance System for Underground Vehicles” IEEE International Conference on Robotics and Automation,Nice, France (1992) pp. 639–644.Google Scholar
30.DeSantis, R.M., “An Adaptive PI/Sliding-Mode Controller for a Speed Drive” J. Dynamic Systems Measurement and Control, Trans. ASME 111, 409–415 (1989).CrossRefGoogle Scholar
31.DeSantis, R.M., “A novel PID Configuration for Speed and Position Control” J. Dynamic Systems Measurement and Control, Trans. ASME 116, 542–549 (09, 1994).CrossRefGoogle Scholar
32.Astrom, K.J. and Hagglund, K.J.T.Automatic Tuning of PID Controllers (Instrument Society of America, Res. Triangle Park, NC, 1988).Google Scholar