The path‐tracking controller based on dynamic model with slip for one four‐wheeled OMR

Yanwen Huang (Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China)
Qixin Cao (Research Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China)
Chuntao Leng (School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China)

Industrial Robot

ISSN: 0143-991x

Publication date: 8 March 2010

Abstract

Purpose

This paper aims to propose a suitable motion control method for omni‐directional mobile robots (OMRs). In RoboCup competition, the robot moves in a dynamic and oppositional environment, which occurs with high acceleration and deceleration motion frequently, especially for our OMR that slipping is almost inherently encountered in motion. Therefore, the purpose of this paper is to present one improved dynamical model with slip, and then to propose one suitable path‐tracking controller based on it, which gives more accurate control result.

Design/methodology/approach

A dynamic modeling method for OMRs based on the theory of vehicle dynamics is proposed. By analyzing the wheel contact friction forces both in the wheel hub rolling direction and in the roller rolling direction, an amendatory dynamics model is presented. This model is introduced into the computed‐torque‐like‐controller (CTLC) system to solve the path‐tracking problem.

Findings

An amendatory dynamics model with slip is analyzed and introduced into the CTLC system to solve the path tracking problem for OMR in this paper. The anti‐disturbance ability and the trajectory tracking effect of the proposed motion control method are proven through simulations and experiments.

Practical implications

The proposed path tracking control method based on one improved dynamic model with slip is applied successfully to achieve effective motion control for one four‐wheel OMR, which is suitable for any kind of OMR.

Originality/value

One amendatory dynamics model including slipping between the wheels and ground is presented. Based on the above‐slipping model, one CTLC is implemented to solve the path‐tracking problem for one four‐wheel OMR.

Keywords

Citation

Huang, Y., Cao, Q. and Leng, C. (2010), "The path‐tracking controller based on dynamic model with slip for one four‐wheeled OMR", Industrial Robot, Vol. 37 No. 2, pp. 193-201. https://doi.org/10.1108/01439911011018975

Download as .RIS

Publisher

:

Emerald Group Publishing Limited

Copyright © 2010, Emerald Group Publishing Limited

Please note you might not have access to this content

You may be able to access this content by login via Shibboleth, Open Athens or with your Emerald account.
If you would like to contact us about accessing this content, click the button and fill out the form.
To rent this content from Deepdyve, please click the button.