Optimal control of a mobile robot on sphere
WebDec 16, 2002 · In comparison to wheeled robots, spherical mobile robots offer greater mobility, stability, and scope for operation in hazardous environments. Inspite of these advantages, spherical designs have failed to gain popularity due to complexity of their motion planning and control problems. In this paper, we address the motion planning … WebFeb 5, 2024 · 1. Introduction. With the rapid development of robotics in recent years, autonomous mobile robots have been widely used for various service tasks (Liu et al., …
Optimal control of a mobile robot on sphere
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WebThe position control of the mobile robot is a nonlinear and it is on the second level. We have developed a mobile robot position controller based on backstepping control algorithm with the extension to rapidly decrease the control torques needed to achieve the desired position and orientation of mobile robot (Lacevic & Velagic, 2005). This Webwheeled robots but will fail miserably in highly dynamic, balancing mobile robots like the ballbot. Such approaches result in sub-optimal, jerky motions and often drive the system unstable. In order to achieve robust, collision-free graceful motions, the motion planning and control for such systems must be integrated.
Webthe sphere to drive the robot. The spherical robot reported in ref. [11] uses two D.C. motors to roll the sphere. Spherical robots find wide potential applications in industry such as inspection and disaster mitigation,12 extra-terrestrial application,13 and child development studies.14,15 A detailed discussion on different constructions and WebNov 1, 2016 · Optimal motion planning and control of a nonholonomic spherical mobile robot is studied. Dynamic Programming (DP) as a direct and online approach is used to …
WebThe mobile robot working on sphere is subjected to position constraints and velocity constraints, which results in holonomic constraints and nonholonomic constraints, … WebDue to their complicated dynamics and underactuated nature, spherical robots require advanced control methods to reveal all their manoeuvrability features. This paper considers the path tracking control problem of a spherical robot equipped with a 2-DOF pendulum. The pendulum has two input torques that allow it to take angles about the robot’s …
WebApr 13, 2011 · A controller have been designed in this paper to improve the motion control performance of a spherical robot during its travel. Due to the robot dynamics lateral oscillations develop in its longitudinal motion inherently. To model this behavior, an external moment signal has been utilized as a noise to deviate the robot from its original path. …
WebDec 27, 2024 · There are several types of spherical robots which can be classified as follows: (a) those having a direct driving mechanism, (b) those relying their activation on gravity, and (c) those receiving actuation by an angular … onward internalWebMar 7, 2024 · Thus, constraints of the mobile robot are Using Theorem 1 with controlsposed along the directions ofand, we obtain For the inspection task, given initial and final statuses of the mobile robot, the following optimal control problem is proposed. ① Cost functional (minimum energy consumption): ② Boundary conditions: onward inland routing 貿易WebApr 14, 2024 · This paper presents an approach to apply the LQ optimal controller on cable-driven parallel robots. To employ the optimal control theory, the static and dynamic modeling of a 3-DOF planar cable ... onward in chineseWebDec 13, 2024 · Highly maneuverable mobile robots are widely used as service robots, transportation robots, footballer robots, and so on; see the litereature 1–9 for a detailed analysis of the robots’ designs and experience of their applications. Also there are publications described dynamical theory with the effects of slip. 10,11 Maneuverability is … iot in virtual realityWebFeb 4, 2024 · The article proposes a nonlinear optimal (H-infinity) control approach for the model of a tracked robotic vehicle. The kinematic model of such a tracked vehicle takes into account slippage effects due to the contact of the tracks with the ground. To solve the related control problem, the dynamic model of the vehicle undergoes first approximate … onward insuranceWebJan 18, 2012 · An adaptive estimation and control algorithm used for position control of the unbalance masses and a steering algorithm used for motion control of Spherobot are also … onward inland routing là gìWebJan 1, 2024 · The path planning design of a spherical robot on current research are Norsahperi et al. 2015 [4] investigated the possibility of bouncing mechanism in a sphere robot by using Particle Swarm... iot in warehouse