Hostname: page-component-78c5997874-xbtfd Total loading time: 0 Render date: 2024-11-10T16:24:22.715Z Has data issue: false hasContentIssue false
  • English
  • Français

Simultaneous tracking and stabilization of an omnidirectional mobile robot in polar coordinates: a unified control approach

Published online by Cambridge University Press:  01 May 2009

Hsu-Chih Huang  and
Ching-Chih Tsai
Hsu-Chih Huang
Affiliation:
Department of Electrical Engineering, National Chung Hsing University, 250, Kuo-Kuang Road, Taichung 402, Taiwan.
Ching-Chih Tsai*
Affiliation:
Department of Electrical Engineering, National Chung Hsing University, 250, Kuo-Kuang Road, Taichung 402, Taiwan.
*
*Corresponding author. E-mail: cctsai@dragon.nchu.edu.tw
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a polar-space kinematics control method to achieve simultaneous tracking and stabilization for an omnidirectional wheeled mobile robot with three independent driving omnidirectional wheels equally spaced at 120° from one another. The kinematic model of the robot in polar coordinates is presented. With the kinematic model, a kinematic control method based on feedback linearization is proposed in order to achieve simultaneous tracking and stabilization. The proposed method is easily extended to address the path following problem. Computer simulations and experimental results are presented to show the effectiveness and usefulness of the proposed control method at slow speeds.

Keywords

Feedback linearizationKinematic modelMobile robotOmnidirectionalPolar coordinatesRegulationTrajectory tracking
Type
Article
Information
Robotica , Volume 27 , Issue 3 , May 2009 , pp. 447 - 458
Copyright
Copyright © Cambridge University Press 2008

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.Muir, P. F. and Neuman, C. P., “Kinematic Modeling for Feedback Control of an Omnidirectional Wheeled Mobile Robot,” Proceedings of 1987 IEEE International Conference on Robotics and Automation, Raleigh, NC, USA, Vol. 4 (Mar. 1987) pp. 1772–1778.CrossRefGoogle Scholar
2.Pin, F. G. and Killough, S. M., “A new family of omnidirectional and holonomic wheeled platforms for mobile robots,” IEEE Trans. Rob. Automat. 10 (4), 480–489 (Aug. 1994).CrossRefGoogle Scholar
3.Béktourné, A. and Campion, G., “Kinematic Modeling of a Class of Omnidirectional Mobile Robots,” Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, Vol. 4 (Apr. 1996) pp. 3631–3636.Google Scholar
4.Watanabe, K., Shiraishi, Y., Tzafestas, S., Tang, J. and Fukuda, T., “Feedback control of an omnidirectional autonomous platform for mobile service robots,” J. Intell. Rob. Syst. 22, 315–330 (1998).CrossRefGoogle Scholar
5.Yi, B. J. and Kim, W. K., “The Kinematics for Redundantly Actuated Omni-Directional Mobile Robots,” Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA (Apr. 2000) pp. 2485–2492.Google Scholar
6.Moore, K. L. and Flann, N. S, “A six-wheeled omnidirectional autonomous mobile robot,” IEEE Control Syst. Mag. 20, 53–66 (Dec. 2000).Google Scholar
7.Jung, M. J., Kim, H. S., Kim, S. and Kim, J. H., “Omni-Directional Mobile Base OK-II,” Proceeding of the 2000 IEEE International Conference on Robotics and Automation, San Franciso, CA (Apr. 2000) pp. 3449–3454.Google Scholar
8.Kalmár-Nagy, T., D'Andrea, R. and Ganguly, P., “Near-optimal dynamic trajectory generation and control of an omnidirectional vehicle,” Rob. Autonom. Syst. 46, 47–64 (2004).CrossRefGoogle Scholar
9.Williams, R. L. II, Carter, B. E., Gallina, P. and Rosati, G., “Dynamic model with slip for wheeled omnidirectional robots,” IEEE Trans. Rob. Automat. 18 (3), 285–293 (Jun. 2002).CrossRefGoogle Scholar
10.Tsai, C. C. and Wang, T. S., “Nonlinear Control of an Omnidirectional Mobile Robot,” CD-ROM Proceeding of the 8th International Conference on Automation Technology (Automation 2005), Taichung, Taiwan (May 2005) pp. 727–732.Google Scholar
11.Yang, Z. and Red, E., “On-line Cartesian trajectory control of mechanism along complex curves,” Robotica 15, 263–274 (1997).CrossRefGoogle Scholar
12.Red, E., “A dynamic optimal trajectory generator for Cartesian path following,” Robotica 18, 451–458 (2000).CrossRefGoogle Scholar
13.Do, K. D., Jiang, Z. P. and Pan, J., “Simultaneous tracking and stabilization of mobile robots: An adaptive approach,” IEEE Trans. Automat. Control 49 (7), 1147–1151 (Jul. 2004).CrossRefGoogle Scholar
14.Do, K. D., Jiang, Z. P. and Pan, J., “A global output-feedback controller for simultaneous tracking and stabilization of unicycle-type mobile robots,” IEEE Trans. Rob. Automat. 20 (3), 589–594 (Jun. 2004).CrossRefGoogle Scholar
15.Wu, W., Chen, H. and Wang, Y., “Backstepping Design for Path Tracking of Mobile Robots,” Proceeding of IEEE International Conference on Robots and Systems, Kyongju, South Korea, (1999) pp. 1822–1827.Google Scholar
16.Chwa, D. K., “Sliding mode tracking control of nonholonomic wheeled mobile robots in polar coordinates,” IEEE Trans. Control Syst. Technol. 12 (4), 637–644 (Jul. 2004).CrossRefGoogle Scholar
17.Khalil, H. K., Nonlinear Systems, 3rd ed. New Jersey, (Prentice Hall, 2002).Google Scholar
18.Brockett, R., “Asymptotic Stability and Feedback Stabilization,” In: Differential Geometric Control Theory (Brockett, R., Millman, R. and Sussmann, H., eds.) (Birkhauser, Boston, 1983).Google Scholar
19.Aicardi, M., Casalino, G., Balestrino, A. and Bicchi, A., “Closed Loop Smooth Steering of Unicycle-Like Vehicles,” Proceeding of 33rd IEEE Conference on Decision and Control, Lake Buena Vista, FL, USA, Vol. 3 (1994) pp. 2455–2458.Google Scholar
20.Astolfi, A., “On the Stabilization of Nonholonomic Systems,” Proceeding of 33rd IEEE Conference on Decision and Control, Orlando, FL, USA, Vol. 4 (1994) pp. 3481–3486.Google Scholar
21.Tsai, C. C. and Lin, H. S., “Multisensorial 3D posture determination of a mobile robot sing inertial and ultrasonic sensors,” J. Intell. Rob. Syst. 42, 317–335 (2005).CrossRefGoogle Scholar
22.Lin, H. H. and Tsai, C. C., “Improved global localization of an indoor mobile robot via fuzzy extended information filtering,” Robotica 42, 241–254 (2008).CrossRefGoogle Scholar