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Frontiers of Information Technology & Electronic Engineering
ISSN 2095-9184 (print), ISSN 2095-9230 (online)
2015 Vol.16 No.2 P.166-172
Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking
Abstract: This research formulates a path-following control problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeled mobile robot (WMR). The novelty of the proposed scheme lies in its methodology that considers both longitudinal and lateral slip components. Based on the derived slip model, the controller for longitudinal motion slip has been synthesized. Various control parameters have been studied to investigate their effects on the performance of the controller resulting in selection of their optimum values. The designed controller for lateral slip or skid is based on the proposed side friction model and skid check condition. Considering a car-like WMR, simulation results demonstrate the effectiveness of the proposed control scheme. The robot successfully followed the desired circular trajectory in the presence of wheel slippage and skid. This research finds its potential in various applications involving WMR navigation and control.
Key words: Robot modeling, Robot navigation, Slip and skid control, Wheeled mobile robots
创新：针对轮式移动机器人模型，同时考虑纵向和侧向滑动分量。
方法：设计纵向滑行控制策略（图1）。改变自然频率（图4）、阻尼和质量（图5）、轮子半径（图6）分别测试控制器响应，最终获取最优控制参数（表2）。
结论：仿真结果验证所提控制策略的有效性。通过测试选择合适参数使控制器实现快速平滑响应。所设计的控制器对轮子滑动扰动不作限制性假设，即可实现误差指数收敛。
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DOI:
10.1631/FITEE.1400183
CLC number:
TP24
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On-line Access:
2015-01-29
Received:
2014-05-16
Revision Accepted:
2014-10-01
Crosschecked:
2014-12-30