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Real-Time Trajectory Generation and Control of a Semi-Omnidirectional Mobile Robot

Nilsson, Sofie (2010) In MSc Theses
Department of Automatic Control
Abstract
When controlling a wheeled mobile robot with four independently steerable driving wheels, the control of the wheel coordination must be handled. Both the direction and velocity of the wheels must be coordinated to allow for proper operation of the robot. The focus of this work is on the coordination of the wheel directions. Such coordination is mostly done by solving constraint equations of the system kinematics, but when the demands on the coordination are high, it is sometimes necessary to include the steering dynamics in the coordination control. With dynamics included the complexity of the wheel coordination increases, since constraints dependent on required angle changes and current velocities must be fulfilled. By calculating the... (More)
When controlling a wheeled mobile robot with four independently steerable driving wheels, the control of the wheel coordination must be handled. Both the direction and velocity of the wheels must be coordinated to allow for proper operation of the robot. The focus of this work is on the coordination of the wheel directions. Such coordination is mostly done by solving constraint equations of the system kinematics, but when the demands on the coordination are high, it is sometimes necessary to include the steering dynamics in the coordination control. With dynamics included the complexity of the wheel coordination increases, since constraints dependent on required angle changes and current velocities must be fulfilled. By calculating the dynamic limitations in each control cycle, the steering limit for the whole wheel base within the current control cycle can be found. With use of such wheel base limit, followable and coordinated wheel trajectories can be generated online. This thesis includes the construction of a dynamic model for inclusion of the steering dynamic limitations affecting the performance the most, the construction of the online trajectory generation idea, as well as implementation and validation on the real target wheeled mobile robot platform. (Less)
Please use this url to cite or link to this publication:
author
Nilsson, Sofie
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5854
ISSN
0280-5316
language
English
id
8847433
date added to LUP
2016-03-16 12:39:57
date last changed
2016-03-16 12:39:57
@misc{8847433,
  abstract     = {When controlling a wheeled mobile robot with four independently steerable driving wheels, the control of the wheel coordination must be handled. Both the direction and velocity of the wheels must be coordinated to allow for proper operation of the robot. The focus of this work is on the coordination of the wheel directions. Such coordination is mostly done by solving constraint equations of the system kinematics, but when the demands on the coordination are high, it is sometimes necessary to include the steering dynamics in the coordination control. With dynamics included the complexity of the wheel coordination increases, since constraints dependent on required angle changes and current velocities must be fulfilled. By calculating the dynamic limitations in each control cycle, the steering limit for the whole wheel base within the current control cycle can be found. With use of such wheel base limit, followable and coordinated wheel trajectories can be generated online. This thesis includes the construction of a dynamic model for inclusion of the steering dynamic limitations affecting the performance the most, the construction of the online trajectory generation idea, as well as implementation and validation on the real target wheeled mobile robot platform.},
  author       = {Nilsson, Sofie},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Real-Time Trajectory Generation and Control of a Semi-Omnidirectional Mobile Robot},
  year         = {2010},
}