Path Following Control of Mobile Robot (original) (raw)
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Path Tracking and Position Control of Nonholonomic Differential Drive Wheeled Mobile Robot
Jurnal Ilmiah Teknik Elektro Komputer dan Informatika, 2021
Differential drive wheeled mobile robot (DDWMR) is one example of a robot with a constrained movement, Multiple Input Multiple Output (MIMO), and nonlinear system. Designing a low resource position and heading controller using linear MIMO methods such as LQR became a problem because of the linearization of robot dynamics at zero value. One of the solutions is to design a MIMO controller using a Single Input Single Output (SISO) controller. This work design a controller using PID for DDWMR Jetbot and selects the best feedback gain using different scenarios. The designed controller manipulates both motors by using calculated control signal to achieve a complex task such as path tracking with robot position in x-Axis, y-Axis, and heading angle as the feedback. The priority between position and heading angle can be adjusted by changing three feedback gains. The controller was tested, and the best gain was selected using Integral Absolute Error (IAE) metrics in a path tracking task with four different path shapes. The proposed methods can track square, circle, and two types of infinity shape paths, with the less well-formed shape being the four edges square path.
Non-linear PID controller for trajectory tracking of a differential drive mobile robot
2020
The application of differential drive robots has grown from scientific research to broader industrial and commercial purposes. In order to Navigate the robot in difficult terrains, it must be well equipped with a robust controller with good path tracking ability and general stability. Typically, the wheeled mobile robot (WMR) can essentially be kinematically controlled by defining a route and determining the traveling time, speed and direction to get from one place to another. However, by ignoring the dynamic model of the robot, a purely kinematic model approach has been revealed to produce unrealistic results at higher speeds and loads. As a consequence, there are significant limitations to the applicability of solely kinematic systems to mobile robotics and hence, in recent years, there has been a trend towards the application of dynamic modelling. In this study, a simple but effective solution for the path tracking problem of a mobile robot using a PID controller is proposed. The method adopted is a trial and error technique with six tuning parameters for the robot to track a desired trajectory. The final mathematical derivation for a nonholonomic differential drive mobile robot was computationally simulated using MATLAB for both kinematic and dynamic models respectively. The controller was used to overcome the nonlinearity of the reference trajectory tracking as well as the speed of the DC motor adjustments. In order to evaluate the performance of the developed robot controller, tests were also carried out for different trajectories in terms of the initial and final conditions. The results show that the developed PID controller is responsive enough to be able to speed up when required to match the reference trajectory.
Trajectory tracking of steering system mobile robot
2011 4th International Conference on Mechatronics (ICOM), 2011
In this paper, the kinematic model of nonholonomic differential wheeled mobile robot steering system is established. Based on the model, a nonlinear feedback path tracking controller is proposed, which causes the closed loop system state equation for the robot to have equilibrium condition at the origin. Lyapunov candidate function is used to prove that the closed loop system is asymptotically stable at origin. Simulation results verify the usefulness of the tracking control approach.
TRAJECTORY TRACKING CONTROL OF NONHOLONOMIC WHEELED MOBILE ROBOTS
This paper presents a novel methodology for the trajectory tracking control of nonholonomic wheeled mobile robots using multiple identification models. The overall control system includes two stages. In the first stage, a kinematic controller developed by using kinematic model provides the required linear and angular velocities of the robot for tracking a reference trajectory. In the second stage, the required velocities are taken as the inputs to an adaptive dynamic controller which uses multiple adaptive models for the parameter identification. The proposed adaptive dynamic controller is developed using a combined direct and indirect adaptive control approach where both prediction and tracking errors are used for identification. Simulation results show the effectiveness of the proposed combined direct and indirect control scheme and multiple models approach.
Dynamic modeling and tracking for nonholonomic mobile robot using PID and back‐stepping
Advanced Control for Applications, 2021
This article presents the motion control of nonholonomic two-wheeled differential drive portable robot in terms of dynamic and kinematic model. The main problem lies in the demonstration of a versatile robot in dynamic behavior. The controller is planned in two sections, initially, a linear controller is configured utilizing the PID control strategy. In the subsequent stage, the control algorithm is designed utilizing the back-stepping controller. An examination has been done between the two controllers and simulation result shows the adequacy of the exhibitions. These simulations show great coordinate outcomes while limiting the overshoot and improved the transient reaction time.
Tracking Control of a Nonholonomic Wheeled Mobile Robot
2012
This paper proposed a tracking control law for the kinematic model of the nonholonomic wheeled mobile robot (WMR). A Lyapunov candidate function is used to prove the stability of the controller. Simulation results verify the effectiveness of the proposed control law, where, a better path tracking of the mobile robot is achieved.
Nonholonomic Mobile Robot Trajectory Tracking using Hybrid Controller
2020
A control scheme is being presented for the trajectory tracking of a nonholonomic kinematic model of mobile robots. As a kinematic model of mobile robots is nonlinear in nature, therefore, it is controlling is always being a difficult task. Thus, a control hybrid scheme comprises of fuzzy logic and PID (Proportional Integral Derivative) is being proposed, in which adaptive gains of PID controller is being tuned by a fuzzy logic controller. Moreover, the effectiveness of this innovative technique is also proved using the simulations by adding model uncertainties and external disturbances in the system. Besides, the fuzzy logic control system is also being compared by the proposed control system. Resultsattained shows that the fuzzy based PID controller drivesimproved results than fuzzy logic controller.
Kinematic Model and Control Algorithm for the Path Tracking of Nonholonomic Mobile Robots
Provided in this article is a general overview of nonholonomic mobile robots' modelling. Emphasis is given to the structural characteristics of kinematic models, taking into account the mobility restrictions caused by various links. Another problem of nonholonomic mobile robots is tracking of the prescribed path. The classic " tracking controllers " are not appropriate for this type of tasks, because they do not guarantee that the robot remains on the prescribed path. The aim of this paper is to propose and to verify, by means of computer simulation, the method of control, which ensures that the " output " of the robot will move along the prescribed path.
The objective of this paper is to design a path following control system for a car-like mobile robot using classical linear control techniques, so that it adapts on-line to varying conditions during the trajectory following task. The main advantages of the proposed control structure is that well known linear control theory can be applied in calculating the PID controllers to fulfil control requirements, while at the same time it is flexible to be applied in non-linear changing conditions of the path following task. For this purpose the Frenet frame kinematic model of the robot is linearised at a varying working point that is calculated as a function of the actual velocity, the path curvature and kinematic parameters of the robot, yielding a transfer function that varies during the trajectory. The proposed controller is formed by a combination of an adaptive PID and a feed-forward controller, which varies accordingly with the working conditions and compensates the non-linearity of th...
Robust Path Tracking Control of Nonholonomic Wheeled Mobile Robot: Experimental Validation
The article addresses a robust control strategy for efficient path tracking of nonholonomic wheeled mobile robot (WMR) based on time delay approach. Depending on the application requirements, nonholonomic WMR system might be subjected to various payloads, which affects the overall system mass, inertia, position of center of mass and other hardware parameters statically or dynamically. Under such circumstances, accurate modeling of nonholonomic robots is difficult and challenging. The proposed controller negotiates uncertainties caused due to payload variations as well as associated disturbances and reduces modeling effort through approximation of the overall uncertainties with a composite function. It has been shown that the controller does not require any bounds on the uncertainties, thus providing unconstrained working paradigm. The controller is proposed for a nonholonomic WMR and its effectiveness is verified through simulation and experimentally while WMR is commanded to track various paths. The superior performance is also noted against adaptive sliding mode control law