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Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution †
This paper presents a nonlinear, universal, path-following controller for Wheeled Mobile Robots (WMRs). This approach, unlike previous algorithms, solves the path-following problem for all common categories of holonomic and nonholonomic WMRs, such as omnidirectional, unicycle, car-like, and all stee...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8624698/ https://www.ncbi.nlm.nih.gov/pubmed/34833715 http://dx.doi.org/10.3390/s21227642 |
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author | Oftadeh, Reza Ghabcheloo, Reza Mattila, Jouni |
author_facet | Oftadeh, Reza Ghabcheloo, Reza Mattila, Jouni |
author_sort | Oftadeh, Reza |
collection | PubMed |
description | This paper presents a nonlinear, universal, path-following controller for Wheeled Mobile Robots (WMRs). This approach, unlike previous algorithms, solves the path-following problem for all common categories of holonomic and nonholonomic WMRs, such as omnidirectional, unicycle, car-like, and all steerable wheels. This generality is the consequence of a two-stage solution that tackles separately the platform path-following and wheels’ kinematic constraints. In the first stage, for a mobile platform divested of the wheels’ constraints, we develop a general paradigm of a path-following controller that plans asymptotic paths from the WMR to the desired path and, accordingly, we derive a realization of the presented paradigm. The second stage accounts for the kinematic constraints imposed by the wheels. In this stage, we demonstrate that the designed controller simplifies the otherwise impenetrable wheels’ kinematic and nonholonomic constraints into explicit proportional functions between the velocity of the platform and that of the wheels. This result enables us to derive a closed-form trajectory generation scheme for the asymptotic path that constantly keeps the wheels’ steering and driving velocities within their corresponding, pre-specified bounds. Extensive experimental results on several types of WMRs, along with simulation results for the other types, are provided to demonstrate the performance and the efficacy of the method. |
format | Online Article Text |
id | pubmed-8624698 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-86246982021-11-27 Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution † Oftadeh, Reza Ghabcheloo, Reza Mattila, Jouni Sensors (Basel) Article This paper presents a nonlinear, universal, path-following controller for Wheeled Mobile Robots (WMRs). This approach, unlike previous algorithms, solves the path-following problem for all common categories of holonomic and nonholonomic WMRs, such as omnidirectional, unicycle, car-like, and all steerable wheels. This generality is the consequence of a two-stage solution that tackles separately the platform path-following and wheels’ kinematic constraints. In the first stage, for a mobile platform divested of the wheels’ constraints, we develop a general paradigm of a path-following controller that plans asymptotic paths from the WMR to the desired path and, accordingly, we derive a realization of the presented paradigm. The second stage accounts for the kinematic constraints imposed by the wheels. In this stage, we demonstrate that the designed controller simplifies the otherwise impenetrable wheels’ kinematic and nonholonomic constraints into explicit proportional functions between the velocity of the platform and that of the wheels. This result enables us to derive a closed-form trajectory generation scheme for the asymptotic path that constantly keeps the wheels’ steering and driving velocities within their corresponding, pre-specified bounds. Extensive experimental results on several types of WMRs, along with simulation results for the other types, are provided to demonstrate the performance and the efficacy of the method. MDPI 2021-11-17 /pmc/articles/PMC8624698/ /pubmed/34833715 http://dx.doi.org/10.3390/s21227642 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Oftadeh, Reza Ghabcheloo, Reza Mattila, Jouni Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution † |
title | Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution † |
title_full | Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution † |
title_fullStr | Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution † |
title_full_unstemmed | Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution † |
title_short | Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution † |
title_sort | universal path-following of wheeled mobile robots: a closed-form bounded velocity solution † |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8624698/ https://www.ncbi.nlm.nih.gov/pubmed/34833715 http://dx.doi.org/10.3390/s21227642 |
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