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Relevant bibliographies by topics / Differential-Drive Mobile Robot

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Journal articles

Academic literature on the topic 'Differential-Drive Mobile Robot'

Author: Grafiati

Published: 4 June 2021

Last updated: 1 February 2022

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Journal articles on the topic "Differential-Drive Mobile Robot"

1

Kim, Min Chan, and Young Whee Sung. "A Differential Drive Mobile Robot with Omnidirectionality." Transactions of The Korean Institute of Electrical Engineers 69, no. 5 (2020): 698–705. http://dx.doi.org/10.5370/kiee.2020.69.5.698.

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2

Hussein, Mahmoud. "A Non-linear Dynamic Controller for Differential Drive Mobile Robot Trajectory Tracking." Journal of Advanced Research in Dynamical and Control Systems 12, SP8 (2020): 837–45. http://dx.doi.org/10.5373/jardcs/v12sp8/20202587.

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3

Yazdjerdi, Parisa, and Nader Meskin. "Design and real-time implementation of actuator fault-tolerant control for differential-drive mobile robots based on multiple-model approach." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 232, no. 6 (2018): 652–61. http://dx.doi.org/10.1177/0959651818779849.

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In this article, an actuator fault-tolerant control scheme is proposed for differential-drive mobile robots based on the concept of multiple-model approach. The nonlinear kinematic model of the differential-drive mobile robot is discretized and a bank of extended Kalman filters is designed to detect, isolate, and identify actuator faults. A fault-tolerant controller is then developed based on the detected fault to accommodate its effect on the trajectory-tracking performance of the mobile robot. Extensive experimental results are presented to demonstrate the efficacy of the proposed fault-tolerant control approach.

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4

Crenganis, Mihai, Cristina Biris, and Claudia Girjob. "Mechatronic Design of a Four-Wheel drive mobile robot and differential steering." MATEC Web of Conferences 343 (2021): 08003. http://dx.doi.org/10.1051/matecconf/202134308003.

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This paper presents, the development of an autonomous mobile robot with a four-wheel drive and differential locomotion. The mobile robot was developed in the Machines and Industrial Equipment Department from the Engineering Faculty of Sibiu. The main purpose of developing this type of mobile platform was the ability to transport different types of cargo either in industrial spaces or on rough terrain. Another important objective was that this platform could be driven in confined or tight spaces where a high degree of manoeuvrability is necessary. The great advantage of this type of mobile platform is the ability to navigate through narrow spaces due to the type of locomotion implemented. The fact that the robot has four driving wheels gives it the ability to travel on rough surfaces and easily bypass obstacles. Another great advantage of the developed mobile robot is that it has a reconfigurable structure. The drivetrain is interchangeable, it can adopt both classic wheels and Mecanum wheels. The first part of the paper presents some general aspects concerning mobile robots and two types of traction wheels used in mobile robotic structures. Subsequently, the paper presents the steps taken in the development of the mobile wheeled platform. At the end of the paper, the electronic part that will be implemented in the structure of the robot is described. The command and control of the entire mobile platform will be described in some future work.

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5

Coman, Daniela, and Adela Ionescu. "Mobile Robot Trajectory Analysis Using Computational Methods." Advanced Materials Research 837 (November 2013): 549–54. http://dx.doi.org/10.4028/www.scientific.net/amr.837.549.

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This paper presents some considerations regarding the trajectory analysis for a class of mobile robots, namely two-wheeled differential drive mobile robots, one of the most utilized mechanical structures now in mobile robotics practice. The paper is continuing the computational analysis of the Cauchy problem associated to a mobile robot kinematics. The phaseportrait graphical tool of the mathematical soft MAPLE11, points out the influence of the initial conditions the initial velocities of the driving (left and right) wheels of the robot on the robot trajectory. Considering a pair of few simulation cases for the initial conditions brings a good reliability of the analysis. The issue of repetitive phenomena is very important to notice in this context, as in the analysis it is repeated a specific allure of the trajectory. It brings important features, both from mathematical and robotic analysis standpoint. The further changes are due to the initial conditions variations. Repetitive phenomena can be collected in order to realize a global panel of random distributed events in the kinematics of two wheeled differential drive mobile robot and to use the statistical observations in the further analysis.

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6

Maddahi, Y., N. Sepehri, A. Maddahi, and M. Abdolmohammadi. "Calibration of wheeled mobile robots with differential drive mechanisms: an experimental approach." Robotica 30, no. 6 (2012): 1029–39. http://dx.doi.org/10.1017/s0263574711001329.

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SUMMARYExact knowledge of the position and proper calibration of robots that move by wheels form an important foundation in mobile robot applications. In this context, a variety of sensory systems and techniques have been developed for accurate positioning of differential drive mobile robots. This paper, first, provides a brief overview of mobile robots positioning techniques and then, presents a new benchmark method capable of calibrating mobile robots with differential drive mechanisms to correct systematic errors. The proposed method is compared with the commonly used University of Michigan Benchmark (UMBmark) odometry method. Two sets of comparisons are conducted on six prototyped robots with differential drives. The first set of tests establishes the workability and accuracy that can be achieved with the new method and compares them with the ones obtained from the UMBmark technique. The second experiment compares the performance of a mobile robot, calibrated with either the UMBmark or the new method, for an unseen path. It is demonstrated that the proposed method of calibration is simple to implement, and leads to accuracy comparable to the UMBmark method. Specifically, while the error corrections in both methods are within ±5% of each other, the proposed method requires single straight line motion for calibration, which is believed to be simpler and less timely to implement than the square path motion required by the UMBmark technique. The method should therefore be considered seriously as a new tool when calibrating differential drive mobile robots.

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7

Yongoug Chung, Chongkug Park, and F. Harashima. "A position control differential drive wheeled mobile robot." IEEE Transactions on Industrial Electronics 48, no. 4 (2001): 853–63. http://dx.doi.org/10.1109/41.937419.

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8

Kang, Tey Wei, Lim Thol Yong, Yeong Che Fai, and Eileen Su Lee Ming. "Design and Development of an Omnidirectional Mobile Robot." Applied Mechanics and Materials 432 (September 2013): 494–99. http://dx.doi.org/10.4028/www.scientific.net/amm.432.494.

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Most mobile robots use differential-drive concept, where they are equipped with two actuators that permit only single-direction rotation at a time. This concept limits the robots navigation because its orientation must always change according to the direction of movement. This paper presents the development of an omnidirectional mobile robot that uses three actuators, aligned in 120 degrees separation and each attached to an omniwheel. By manipulating actuator speed, the robot can navigate to any direction without changing its orientation. UsingNIsbRIO9632xtas the main controller, navigation algorithm is implemented in LabVIEW, integrated with PID controller to fine-tune robot movements.

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9

Fadlo, Said, Nabila Rabbah, and Abdelhafid Ait Elmahjoub. "Energy Estimation Based on Path Tracking for a Differential Drive Wheeled Mobile Robot." E3S Web of Conferences 229 (2021): 01029. http://dx.doi.org/10.1051/e3sconf/202122901029.

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To improve the energy efficiency of mobile robots and increase their time of operation, a comprehensive energy model is needed. Having such a model requires a lot of complex analysis and design time. There has been a lot of research into optimizing the power consumption of mobile robots but have not benefited from the advantages of languages to model complex cyber-physical systems. In this work, we used the Simscape™ MATLAB® environment to simplify and speed up the design of an energy consumption model of a differential drive mobile robot. We also estimated the energy consumption of the mobile in a different path tracking scenario. Our results show that is possible to obtain a good accuracy of path following with acceptable energy consumption.

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10

Jaramillo-Morales, Mauricio F., Sedat Dogru, Juan B. Gomez-Mendoza, and Lino Marques. "Energy estimation for differential drive mobile robots on straight and rotational trajectories." International Journal of Advanced Robotic Systems 17, no. 2 (2020): 172988142090965. http://dx.doi.org/10.1177/1729881420909654.

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Energy autonomy is an important aspect that needs to be improved in order to increase efficiency in mobile robotic tasks. Having accurate power models allows the estimation of energy consumption along different trajectories. This article proposes a power model for two-wheel differential drive mobile robots. The proposed model takes into account the dynamic parameters of the robot and its motors, and predicts the energy consumption for trajectories with variable accelerations and variable payloads. The experimental validation of the proposed model was performed with a Nomad Super Scout II mobile robot which was driven along straight and curved trajectories, with different payloads and accelerations. The experiments using the proposed model showed accuracies of 96.67% along straight trajectories and 81.25% along curved trajectories in the estimation of energy consumption.

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