A Lyapunov based posture controller for a differential drive mobile robot (original) (raw)

Kinematics, Localization and Control of Differential Drive Mobile Robot

Global Journal of Research In Engineering, 2014

The present work focuses on Kinematics, Localization and closed loop motion control of a differential drive mobile robot which is capable of navigating to a desired goal location in an obstacle free static indoor environment. Two trajectory planning approaches are made (i) the robot is rotated to eliminate orientation error and then translate to overcome distance error (ii) Both rotational and translational motion is given to the robot to overcome orientation and distance error simultaneously. Localization is estimated by integrating the robot movement in a fixed sampling frequency. The control law is based on kinematics model which provides updated reference speed to the high frequency PID control of DC motor. Stability of proposed control law is validated by Lyapunov Criterion. Both experimental and simulation results confirm the effectiveness of the achieved control algorithms and their efficient implementation on a two wheeled differential drive mobile robot using an 8-bit micro...

Tracking of a PID Driven Differential Drive Mobile Robot

PID Controller has been designed and incorporated into the differential drive mobile robot. The mobile robot is built around an ARM7 based microcontroller LPC2129. It includes an odometry unit attached to the rear wheels and ZigBee based RF transceivers. The position and the orientation of mobile robot are estimated using the odometry unit. As a ZigBee based RF transceivers are integrated on mobile robot and remote PC an online tracking and control system is established. In several mobile robotic applications the control systems implemented are Open Loop Control System(OLCS). These OLCS based systems faces uncertainity errors on their tracjectory. To overcome such errors a Closed Loop Control System(CLCS) driven robot is discussed in this paper. A firmware including a Proportional-Integral-Derivative (PID) control algorithm is developed. This enables the online velocity tuning mechanism for the robots to drive in user defined trajectory. The PID control algorithm is developed for reducing the initial inertia error. Inertial errors affects the robot's programmed velocity which intrun causes the robot to deviate from the user defined trajectory. The PID based CLCS periodically checks and corrects the individual wheel speed online to place the robot in trajectory. A LabVIEW application program is developed to compute, track the position and orientation of robot online. Experimental tests were conducted to demonstrate the working of the PID control system and the results are presented.

Mathematical model of differentially steered mobile robot

Paper deals with dynamic mathematical model of an ideal differentially steered drive system (mobile robot) planar motion. The aim is to create model that describes trajectory of a robot's arbitrary point. The trajectory depends on supply voltage of both drive motors. Selected point trajectory recomputation to trajectories of wheels contact points with plane of motion is a part of the model, too. The dynamic behaviour of engines and chassis, form of coupling between engines and wheels and basic geometric dimensions are taken into account. The dynamic model will be used for design and verification of a robot's motion control in MATLAB / SIMULINK simulation environment.

A motion control of a two-wheeled mobile robot

1999

We discuss the motion control of a two-wheeled mobile robot. In the design of a controller for the system, a kinematic model is usually used; the wheels do not skid at all and the mobile robot is regarded as a 3D 2-input nonholonomic system without drift. Many controllers based on the kinematic model have been proposed. However, in a real world, the wheels may skid on the ground or float away from the ground according to the rolling motion of the body. Therefore, we derive a dynamic model of a two-wheeled mobile robot which implies the translational motion with 3 degrees-of-freedom and the rotational motion with 3 degrees-of-freedom of the body and the rotational motion with one degree-of-freedom of each wheel, and then reduce the dynamic model to the kinematic model under certain assumptions. We design a controller based on the kinematic model by extending the Lyapunov control and analyze whether the designed controller works well in a real world by numerical simulations based on the dynamic model

Modelling and Control of DWR 1.0 – A Two Wheeled Mobile Robot

2017

This paper presents modelling and control of DWR 1.0, a two wheeled mobile robot. This balancing robot is one of the applications of an inverted pendulum on a two wheel. A relatively recent offshoot of the classical inverted pendulum is the wheel inverted pendulum, popularized in contemporary culture by the Segway Personal Transporter. However, the mathematical model for a wheel inverted pendulum do not account for the full complexity of the construction of the platform. The mathematical model obtained in this work with the measured parameters is simulated using Matlab and PID control parameters are determined. Finally, PID control algorithm is implemented on the two-wheeled mobile robot to test the accuracy of the model.

STABILITY CONTROL MODELLING UNDER DYNAMIC MOTION SCENARIO OF A DIFFERENTIAL DRIVE ROBOT

16th international Conference of Constructive Design and Technological Optimization in Machine Building Field, OPROTEH 2021, 2021

Intelligence incorporated in many devices makes it easier to achieve self-balancing and autonomous driving in differential drive robot. Basically, differential drive robotic system describes an unstable, nonlinear system related to an inverted pendulum. The research attempts to harness the parameters obtained from a computer-aided design tool (Solid works) to model the system for complete stability control and dynamic motion of the system within a planned trajectory. A linearized dynamic equation is obtained for the overall system design of a mobile robot, and the linear quadratic regulator concept is adopted to obtain an optimum state feedback gain. The simulation results are obtained on MATLAB software interfaced with an Arduino board with deployable sensor technologies. Scenarios of disturbance would be simulated to ascertain the stability conditions of the system at static position or dynamic position. Signal analysis and computer vision techniques serve as leverage to make the design achievable. Localization and navigation referred to as tracking a planned trajectory or moving through paths filled with obstacles in a given space are also included.

OSEK/VDX Porting to the Two-Wheel Mobile Robot Based on the Differential Drive Method

In this paper, we propose an implementation of a real-time operating system for the two-wheel mobile robot. With this implementation, we have the ability to control the complex embedded systems of the two-wheel mobile robot. The advantage of the real-time operating system is increasing the reliability and stability of the two-wheel mobile robot when they work in critical environments such as military and industrial applications. The real-time operating system which was ported to this implementation is open systems and the corresponding interfaces for automotive electronics (OSEK/VDX). It is known as the set of specifications on automotive operating systems, published by a consortium founded by the automotive industry. The mechanical design and kinematics of the two-wheel mobile robot are described in this paper. The contributions of this paper suggest a method for adapting and porting OSEK/VDX real-time operating system to the two-wheel mobile robot with the differential drive method, and we are also able to apply the real-time operating system to any complex embedded system easily.

Real Time Trajectory Tracking Controller based on Lyapunov Function for Mobile Robot

International Journal of Computer Applications, 2017

An important issue in robotics research is path tracking control where the robot is required to follow a certain path. The error between the desired path and the actual path is to converge to zero. This problem is more complicated when the robot dynamics is considered. This paper proposes a real time trajectory tracking control for a differential drive wheeled mobile robot (DDWMR) in obstacle-free environment. The robot is guided to follow certain reference path with a pre-calculated velocity profile. The controller design and analysis of the system stability are guaranteed using Lyapunov stability theory. The dynamic model of real DDWMR is derived and used in the LabVIEW simulation environment for testing the validity of designed controller.

Differential Steering Control for an Autonomous Mobile Robot: A Preliminary Experimental Study

Procedia Engineering, 2012

In this paper, we present the first stage of a study in reducing errors occurred during the trajectory tracking by a nonholonomic mobile robot forwarding to a stable-target point. A preliminary experimental study is very important in order to verify the both velocity of DC motors with and without control the Pulse Width Modulation (PWM) for DC motors which control the velocities of left and right wheels of the mobile robot. Before any navigation control algorithm can be developed for navigate the mobile robot move in straight line to the stable target, both wheels should be set to move with the same velocity. From these preliminary experiments, we found that the PWM for left DC motor must be set higher than PWM for the right DC motor in order to achieve the least different velocity of both wheel. These PWMs setting for both DC motors then tested with a simple proportional control algorithm to verify effectiveness of selected PWM value for both DC motors in mission to navigate the mobile robot to the stable-target.

Control of Wheeled Mobile Robots: An Experimental Overview

The subject of this chapter is the motion control problem of wheeled mobile robots (WMRs). With reference to the unicycle kinematics, we review and compare several control strategies for trajectory tracking and posture stabilization in an environment free of obstacles. Experiments are reported for SuperMARIO, a two-wheel differentially-driven mobile robot. From the comparison of the obtained results, guidelines are provided for WMR end-users.