Journal articles: 'Differential-Drive Mobile Robot'

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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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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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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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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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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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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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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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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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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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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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Donoso-Aguirre, F., J. P. Bustos-Salas, M. Torres-Torriti, and A. Guesalaga. "Mobile robot localization using the Hausdorff distance." Robotica 26, no. 2 (2008): 129–41. http://dx.doi.org/10.1017/s0263574707003657.

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SUMMARYThis paper presents a novel method for localization of mobile robots in structured environments. The estimation of the position and orientation of the robot relies on the minimisation of the partial Hausdorff distance between ladar range measurements and a floor plan image of the building. The approach is employed in combination with an extended Kalman filter to obtain accurate estimates of the robot's position, heading and velocity. Good estimates of these variables were obtained during tests performed using a differential drive robot, thus demonstrating that the approach provides an accurate, reliable and computationally feasible alternative for indoor robot localization and autonomous navigation.

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Aldair, Ammar, and Auday Al-Mayyahi. "Maze Maneuvering and Colored Object Tracking for Differential Drive Mobile Robot." Iraqi Journal for Electrical and Electronic Engineering 15, no. 1 (2019): 47–52. http://dx.doi.org/10.37917/ijeee.15.1.5.

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In maze maneuvering, it is needed for a mobile robot to feasibly plan the shortest path from its initial posture to the desired destination in a given environment. To achieve that, the mobile robot is combined with multiple distance sensors to assist the navigation while avoiding obstructing obstacles and following the shortest path toward the target. Additionally, a vision sensor is used to detect and track colored objects. A new algorithm is proposed based on different type of utilized sensors to aid the maneuvering of differential drive mobile robot in an unknown environment. In the proposed algorithm, the robot has the ability to traverse surrounding hindrances and seek for a particular object based on its color. Six infrared sensors are used to detect any located obstacles and one color detection sensor is used to locate the colored object. The Mobile Robotics Simulation Toolbox in Matlab is used to test the proposed algorithm. Three different scenarios are studied to prove the efficiency of the proposed algorithm. The simulation results demonstrate that the mobile robot has successfully accomplished the tracking and locating of a colored object without collision with hurdles.

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Bouzoualegh, Samir, El-Hadi Guechi, and Ridha Kelaiaia. "Model Predictive Control of a Differential-Drive Mobile Robot." Acta Universitatis Sapientiae Electrical and Mechanical Engineering 10, no. 1 (2018): 20–41. http://dx.doi.org/10.2478/auseme-2018-0002.

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Abstract This paper presents a model predictive control (MPC) for a differential-drive mobile robot (DDMR) based on the dynamic model. The robot’s mathematical model is nonlinear, which is why an input–output linearization technique is used, and, based on the obtained linear model, an MPC was developed. The predictive control law gains were acquired by minimizing a quadratic criterion. In addition, to enable better tuning of the obtained predictive controller gains, torques and settling time graphs were used. To show the efficiency of the proposed approach, some simulation results are provided.

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Petrović, Emina, Miloš Simonović, and Vlastimir Nikolić. "FUZZY CONTROL OF DIFFERENTIAL DRIVE MOBILE ROBOT FOR MOVING TARGET TRACKING." Facta Universitatis, Series: Automatic Control and Robotics 16, no. 2 (2017): 83. http://dx.doi.org/10.22190/fuacr1702083p.

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Tracking of moving objects, including humans has important role in mobile robotics. In this paper, the hierarchical control structure for target/human tracking consisted of high and low level control was presented. The low level subsystem deals with the control of the linear and angular velocities using multivariable PD controller whose parameters are obtained by Particle swarm optimization. The position control of the mobile robot represents the high level control, where we use two fuzzy logic Mamdani controllers for distance and angle control. In order to test the effectiveness of the proposed control scheme a simulation was performed. Two cases, when the mobile robot pursues a target moving along a circular path and when the mobile robot pursues a target moving along a rectangle path, were simulated.

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Lages, Walter Fetter, and Jorge Augusto Vasconcelos Alves. "Differential-drive mobile robot control using a cloud of particles approach." International Journal of Advanced Robotic Systems 14, no. 1 (2016): 172988141668055. http://dx.doi.org/10.1177/1729881416680551.

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Common control systems for mobile robots include the use of some deterministic control law coupled with some pose estimation method, such as the extended Kalman filter, by considering the certainty equivalence principle. Recent approaches consider the use of partially observable Markov decision process strategies together with Bayesian estimators. These methods are well suited to handle the uncertainty in pose estimation but demand significant processing power. In order to reduce the required processing power and still allow for multimodal or non-Gaussian uncertain distributions, we propose a scheme based on a particle filter and a corresponding cloud of control signals. The approach avoids the use of the certainty equivalence principle by postponing the decision on the optimal estimate to the control stage. As the mapping between the pose space and the control action space is nonlinear and the best estimation of robot pose is uncertain, postponing the decision to the control space makes it possible to select a better control action in the presence of multimodal and non-Gaussian uncertainty models. Simulation results are presented.

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Круглова, Т., Tat'yana Kruglova, А. Власов, and A. Vlasov. "MODELING OF THE MANAGEMENT SYSTEM OF A FULL-DRIVE FOUR-WHEEL AGRICULTURAL MOBILE ROBOT." Bulletin of Belgorod State Technological University named after. V. G. Shukhov 4, no. 5 (2019): 147–54. http://dx.doi.org/10.34031/article_5ce292ca6fa530.67486694.

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Widespread robotization is a modern trend in the development of agriculture. Currently, various designs of robots are being actively implemented. They are aimed to replace a human when performing various tasks. Most of these robots are wheeled mobile platform, for which it is necessary to ensure high maneuverability and accuracy of control. This problem can be solved by developing optimal high-precision control algorithms, for the study of which it is advisable to use a mathematical model of a mobile agricultural robot. This article presents the results of modeling the movement of a four-wheel mobile robot with a differential drive that moves across a rectangular field along a “snake state” trajectory that is optimal by speed

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Kitagawa, Hideo, Takashi Ohno, Takanori Miyoshi, and Kazuhiko Terashima. "Development of Differential-Drive Steering System for Omnidirectional Mobile Robot." Journal of the Robotics Society of Japan 27, no. 3 (2009): 343–49. http://dx.doi.org/10.7210/jrsj.27.343.

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Mitrovic, Srdjan T., and Zeljko M. Djurovic. "Fuzzy-Based Controller for Differential Drive Mobile Robot Obstacle Avoidance." IFAC Proceedings Volumes 43, no. 16 (2010): 67–72. http://dx.doi.org/10.3182/20100906-3-it-2019.00014.

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Zhu, Rui, and Hong Chuan Xu. "Control System Design for Tracked Trailing Mobile Robot." Applied Mechanics and Materials 241-244 (December 2012): 1816–20. http://dx.doi.org/10.4028/www.scientific.net/amm.241-244.1816.

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In this paper a tracked tracing robot has been investigated and M30245 is used as system core to build its motion control system. A motion control system specifically fitted the differential drive nature of the tracked mobile robots, has been proposed. In this paper, tracing tracked robot based on the structural design, the design of driver module, detection module, control procedures are carried out. The PWM DC motor control technology is discussed; the track sensors, ultrasonic sensors, color sensors, light sensors, temperature sensors and other detection devices are used. Combination of control system the software is designed so that the robot can walk along the designated trajectory, bypass obstacles, test the temperature of the surrounding environment and brightness, then identification and response.

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Widhiada, I. Wayan, C. G. Indra Partha, and Yuda A. P. Wayan Reza. "Simulation of a Differential-Drive Wheeled Mobile Lego Robot Mindstorms NXT." Applied Mechanics and Materials 776 (July 2015): 319–24. http://dx.doi.org/10.4028/www.scientific.net/amm.776.319.

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The aim of this paper is to model and simulate kinematics motion using the differential drive model of a mobile Lego robot Mindstorm NXT. The author’s use integrated two software as a method to solve the simulation of mobile lego robot mindstorms NXT using Matlab/Simulink and Solidworks software. These softwares are enable easier 3D model creation for both simulation and hardware implementation. A fundamental of this work is the use of Matlab/Simulink Toolboxes to support the simulation and understanding of the various kinematics systems and in particular how the SimMechanics toolbox is used to interface seamlessly with ordinary Simulink block diagrams to enable the mechanical elements and its associated control system elements to be investigated in one common environment. The result of simulation shows the mobile robot movement control based on decentralized point algorithm to follow the precision x and y references that has been specified. The design of the mobile robot is validated in simulation results as proof that this design can achieve the good performance.

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Alouache, Ali, and Qinghe Wu. "Fuzzy logic PD controller for trajectory tracking of an autonomous differential drive mobile robot (i.e. Quanser Qbot)." Industrial Robot: An International Journal 45, no. 1 (2018): 23–33. http://dx.doi.org/10.1108/ir-07-2017-0128.

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Purpose The aim of this paper is to propose a robust robot fuzzy logic proportional-derivative (PD) controller for trajectory tracking of autonomous nonholonomic differential drive wheeled mobile robot (WMR) of the type Quanser Qbot. Design/methodology/approach Fuzzy robot control approach is used for developing a robust fuzzy PD controller for trajectory tracking of a nonholonomic differential drive WMR. The linear/angular velocity of the differential drive mobile robot are formulated such that the tracking errors between the robot’s trajectory and the reference path converge asymptotically to zero. Here, a new controller zero-order Takagy–Sugeno trajectory tracking (ZTS-TT) controller is deduced for robot’s speed regulation based on the fuzzy PD controller. The WMR used for the experimental implementation is Quanser Qbot which has two differential drive wheels; therefore, the right/left wheel velocity of the differential wheels of the robot are worked out using inverse kinematics model. The controller is implemented using MATLAB Simulink with QUARC framework, downloaded and compiled into executable (.exe) on the robot based on the WIFI TCP/IP connection. Findings Compared to other fuzzy proportional-integral-derivative (PID) controllers, the proposed fuzzy PD controller was found to be robust, stable and consuming less resources on the robot. The comparative results of the proposed ZTS-TT controller and the conventional PD controller demonstrated clearly that the proposed ZTS-TT controller provides better tracking performances, flexibility, robustness and stability for the WMR. Practical implications The proposed fuzzy PD controller can be improved using hybrid techniques. The proposed approach can be developed for obstacle detection and collision avoidance in combination with trajectory tracking for use in environments with obstacles. Originality/value A robust fuzzy logic PD is developed and its performances are compared to the existing fuzzy PID controller. A ZTS-TT controller is deduced for trajectory tracking of an autonomous nonholonomic differential drive mobile robot (i.e. Quanser Qbot).

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Wu, Xing, Jorge Angeles, Ting Zou, Chao Sun, Qi Sun, and Longjun Wang. "Receding-Horizon Vision Guidance with Smooth Trajectory Blending in the Field of View of Mobile Robots." Applied Sciences 10, no. 2 (2020): 676. http://dx.doi.org/10.3390/app10020676.

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Applying computer vision to mobile robot navigation has been studied for over two decades. One of the most challenging problems for a vision-based mobile robot involves accurately and stably tracking a guide path in the robot limited field of view under high-speed manoeuvres. Pure pursuit controllers are a prevalent class of path tracking algorithms for mobile robots, while their performance is rather limited to relatively low speeds. In order to cope with the demands of high-speed manoeuvres, a multi-loop receding-horizon control framework, including path tracking, robot control, and drive control, is proposed in this paper. This is done within the vision guidance of differential-driving wheeled mobile robots (DWMRs). Lamé curves are used to synthesize a trajectory with G 2 -continuity in the field of view of the mobile robot for path tracking, from its current posture towards the guide path. The platform twist—point velocity and angular velocity—is calculated according to the curvature of the Lamé-curve trajectory, then transformed into actuated joint rates by means of the inverse-kinematics model; finally, the motor torques needed by the driving wheels are obtained based on the inverse-dynamics model. The whole multi-loop control process, initiated from Lamé-curve blending to computational torque control, is conducted iteratively by means of receding-horizon guidance to robustly drive the mobile robot manoeuvring close to the guide path. The results of numerical simulation show the effectiveness of our approach.

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Cai, Lin, Xiao Guang Zhao, and Chong Meng. "Drive System Design of a Two-Wheel Differential Tracked Mobile Robot." Applied Mechanics and Materials 336-338 (July 2013): 1072–75. http://dx.doi.org/10.4028/www.scientific.net/amm.336-338.1072.

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This paper designs a drive system for a two-wheel differential tracked mobile robot. The system has two control modes: remote control and autonomous control, which needs two drive modes. We use a selection signal sent by the remote controller to realize the switch of two drive modes. Traditional MCU or ARM based PWM control system has poor system accuracy and anti-interference, and is complicated to realize the switch of two drive modes. In response to these issues, this paper presents a control method based on ARM and FPGA. FPGA completes motor drive, motor rotation speed calculation and the switch of two drive modes. ARM is used as an upper controller in the autonomous mode. Experiment proves that the result of our method is achieved quite satisfactorily: PWM signal can be generated accurately and the switch of the drive modes is convenient. The drive system has high reliability and flexibility.

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Rubio, Francisco, Carlos Llopis-Albert, Francisco Valero, and Antonio José Besa. "A new approach to the kinematic modeling of a three-dimensional car-like robot with differential drive using computational mechanics." Advances in Mechanical Engineering 11, no. 3 (2019): 168781401982590. http://dx.doi.org/10.1177/1687814019825907.

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This article presents a kinematic analysis of a four-wheeled mobile robot in three-dimensions, introducing computational mechanics. The novelty lies in (1) the type of robot that is analyzed, which has been scarcely dealt with in the literature, and (2) the methodology used which enables the systematic implementation of kinematic algorithms using the computer. The mobile robot has four wheels, four rockers (like an All-Terrain Mobile Robot), and a main body. It also has two actuators and uses a drive mechanism known as differential drive (like those of a slip/skid mobile robot). We characterize the mobile robot as a set of kinematic closed chains with rotational pairs between links and a higher contact pair between the wheels and the terrain. Then, a set of generalized coordinates are chosen and the constraint equations are established. A new concept named “driving modes” has been introduced because some of the constraint equations are derived from these. The kinematics is the first step in solving the dynamics of this robot in order to set a control algorithm for an autonomous car-like robot. This methodology has been successfully applied to a real mobile robot, “Robotnik,” and the results are analyzed.

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Shojaei, Khoshnam, Alireza Mohammad Shahri, Ahmadreza Tarakameh, and Behzad Tabibian. "Adaptive trajectory tracking control of a differential drive wheeled mobile robot." Robotica 29, no. 3 (2010): 391–402. http://dx.doi.org/10.1017/s0263574710000202.

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SUMMARYThis paper presents an adaptive trajectory tracking controller for a non-holonomic wheeled mobile robot (WMR) in the presence of parametric uncertainty in the kinematic and dynamic models of the WMR and actuator dynamics. The adaptive non-linear control law is designed based on input–output feedback linearization technique to get asymptotically exact cancellation for the uncertainty in the given system parameters. In order to evaluate the performance of the proposed controller, a non-adaptive controller is compared with the adaptive controller via computer simulation results. The results show satisfactory trajectory tracking performance by virtue of SPR-Lyapunov design approach. In order to verify the simulation results, a set of experiments have been carried out on a commercial mobile robot. The experimental results also show the effectiveness of the proposed controller.

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Komoriya, Kiyoshi. "Special Issue on Mobile Robot." Journal of Robotics and Mechatronics 11, no. 1 (1999): 1. http://dx.doi.org/10.20965/jrm.1999.p0001.

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Mobility, or locomotion, is as important a function for robots as manipulation. A robot can enlarge its work space by locomotion. It can also recognize its environment well with its sensors by moving around and by observing its surroundings from various directions. Much researches has been done on mobile robots and the research appears to be mature. Research activity on robot mobility is still very active; for example, 22% of the sessions at ICRA'98 - the International Conference on Robotics and Automation - and 24% of the sessions at IROS'98 - the International Conference on Intelligent Robots and Systems - dealt with issues directly related to mobile robots. One of the main reasons may be that intelligent mobile robots are thought to be the closest position to autonomous robot applications. This special issue focuses on a variety of mobile robot research from mobile mechanisms, localization, and navigation to remote control through networks. The first paper, entitled ""Control of an Omnidirectional Vehicle with Multiple Modular Steerable Drive Wheels,"" by M. Hashimoto et al., deals with locomotion mechanisms. They propose an omnidirectional mobile mechanism consisting of modular steerable drive wheels. The omnidirectional function of mobile mechanisms will be an important part of the human-friendly robot in the near future to realize flexible movements in indoor environments. The next three papers focus on audiovisual sensing to localize and navigate a robot. The second paper, entitled ""High-Speed Measurement of Normal Wall Direction by Ultrasonic Sensor,"" by A. Ohya et al., proposes a method to measure the normal direction of walls by ultrasonic array sensor. The third paper, entitled ""Self-Position Detection System Using a Visual-Sensor for Mobile Robots,"" is written by T. Tanaka et al. In their method, the position of the robot is decided by measuring marks such as name plates and fire alarm lamps by visual sensor. In the fourth paper, entitled ""Development of Ultra-Wide-Angle Laser Range Sensor and Navigation of a Mobile Robot in a Corridor Environment,"" written by Y Ando et al., a very wide view-angle sensor is realized using 5 laser fan beam projectors and 3 CCD cameras. The next three papers discussing navigation problems. The fifth paper, entitled ""Autonomous Navigation of an Intelligent Vehicle Using 1-Dimensional Optical Flow,"" by M. Yamada and K. Nakazawa, discusses navigation based on visual feedback. In this work, navigation is realized by general and qualitative knowledge of the environment. The sixth paper, entitled ""Development of Sensor-Based Navigation for Mobile Robots Using Target Direction Sensor,"" by M. Yamamoto et al., proposes a new sensor-based navigation algorithm in an unknown obstacle environment. The seventh paper, entitled ""Navigation Based on Vision and DGPS Information for Mobile Robots,"" S. Kotani et al., describes a navigation system for an autonomous mobile robot in an outdoor environment. The unique point of their paper is the utilization of landmarks and a differential global positioning system to determine robot position and orientation. The last paper deals with the relationship between the mobile robot and computer networks. The paper, entitled ""Direct Mobile Robot Teleoperation via Internet,"" by K. Kawabata et al., proposes direct teleoperation of a mobile robot via the Internet. Such network-based robotics will be an important field in robotics application. We sincerely thank all of the contributors to this special issue for their cooperation from the planning stage to the review process. Many thanks also go to the reviewers for their excellent work. We will be most happy if this issue aids readers in understanding recent trends in mobile robot research and furthers interest in this research field.

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Ramabalan, S., V. Sathiya, and M. Chinnadurai. "Wheeled Mobile Robot Trajectory Planning Using Evolutionary Techniques." INTERNATIONAL JOURNAL OF ADVANCED PRODUCTION AND INDUSTRIAL ENGINEERING 5, no. 3 (2020): 34–38. http://dx.doi.org/10.35121/ijapie202007346.

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This paper proposes two multi-objective trajectory planning optimization algorithms namely Multi-Objective Differential Evolution (MODE) and Elitist Non-dominated Sorting Genetic Algorithm (NSGA-II). They are applied for a differential drive wheels mobile robot (WMR). A cubic NURBS curve is used to constitute the mobile robot’s path. The objective functions considered are travel time, traveled length, and actuators' efforts. All objective functions are to be minimized. The constraints considered are the mobile robot’s kinematic limits, obstacle avoidance, and dynamic limits. Two Stationary and five moving obstacles are present around the robot. Experimental and numerical simulation results are examined and compared.

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Seet, Gerald, R. S. Senanayake, and Eicher Low. "Autonomous Mobile Robot for Hospitals." Journal of Robotics and Mechatronics 7, no. 3 (1995): 263–69. http://dx.doi.org/10.20965/jrm.1995.p0263.

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In recent years, the AGV has been making its way out of the traditional manufacturing and warehouse environments into newer application areas such as hospitals. This is in no small part due to the shortage of nursing and ancillary staff, and to the increase in the cost of employing and training such personnel. The freeing of hospital staff from mundane tasks also enhances job value and frees personnel to patient care. Experimental systems have been applied to the transfer of meals, documents, and other materials. These systems were developed based on general-purpose mobile vehicle platforms, modified for hospital application. However, the different constraints imposed by a hospital environment result in a less than optimum design. An omni-directional vehicle (ODV) has been specifically designed for hospital application. The compact size allows the vehicle to maneuver within the tight corridors of a hospital with minimum interference to other users. The steering-drive unit located at each corner provides steering and drive through differential velocity control of the wheels, and its modular design enables easy maintenance and repair. This paper identifies the unique requirements imposed by the hospital environment and explains how the vehicle has been designed to meet and exploit the unique features of such a situation.

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Klančar, Gregor, Drago Matko, and Sašo Blažič. "A control strategy for platoons of differential drive wheeled mobile robot." Robotics and Autonomous Systems 59, no. 2 (2011): 57–64. http://dx.doi.org/10.1016/j.robot.2010.12.002.

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Alves, Tiago G., Walter F. Lages, and Renato V. B. Henriques. "Parametric Identification and Controller Design for a Differential-Drive Mobile Robot." IFAC-PapersOnLine 51, no. 15 (2018): 437–42. http://dx.doi.org/10.1016/j.ifacol.2018.09.184.

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Housein, Alaa Aldeen, and Gao Xingyu. "Simultaneous Localization and Mapping using differential drive mobile robot under ROS." Journal of Physics: Conference Series 1820, no. 1 (2021): 012015. http://dx.doi.org/10.1088/1742-6596/1820/1/012015.

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Khanpoor, Asghar, Ali Keymasi Khalaji, and S. Ali A. Moosavian. "Modeling and control of an underactuated tractor–trailer wheeled mobile robot." Robotica 35, no. 12 (2017): 2297–318. http://dx.doi.org/10.1017/s0263574716000886.

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SUMMARYTrajectory tracking is one of the main control problems in the context of Wheeled Mobile Robots (WMRs). Control of underactuated systems has been focused by many researchers during past few years. In this paper, tracking control of a Tractor–Trailer Wheeled Mobile Robot (TTWMR) has been discussed. TTWMR includes a differential drive WMR towing a passive spherical wheeled trailer. Spherical wheels in contrast with standard wheels make the robot highly underactuated with severe non-linearities. Underactuation is due to the use of spherical wheeled trailer to increase robots' maneuverability and degrees of freedom. In fact, standard wheels are subjected to non-holonomic constraints due to pure rolling and non-slip conditions, which reduce robot maneuverability. In this paper, after introducing the robot, kinematics and kinetics models are obtained. Then, based on a physical intuition, a novel control algorithm is developed for the robot, i.e. Lyapunov-PID control algorithm. Subsequently, singularity avoidance of the proposed algorithm is discussed and the stability of the algorithm is analyzed. Finally, simulation and experimental results are presented which reveal the effectiveness of the proposed algorithm.

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Sathiya, V., and M. Chinnadurai. "Evolutionary Algorithms-Based Multi-Objective Optimal Mobile Robot Trajectory Planning." Robotica 37, no. 08 (2019): 1363–82. http://dx.doi.org/10.1017/s026357471800156x.

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SummaryIn this research study, trajectory planning of mobile robot is accomplished using two techniques, namely, a new variant of multi-objective differential evolution (heterogeneous multi-objective differential evolution) and popular elitist non-dominated sorting genetic algorithm (NSGA-II). For this research problem, a wheeled mobile robot with differential drive is considered. A practical, feasible and optimal trajectory between two locations in the presence of obstacles is determined through the proposed algorithms. A safer path is obtained by optimizing certain objectives (travel time and actuators effort) taking into account the limitations of mobile robot’s geometric, kinematic and dynamic parameters. Robot motion is represented by a cubic NURBS trajectory curve. The capability of the proposed optimization techniques is analyzed through numerical simulations. Results ensure that the proposed techniques are more desirable for this problem.

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Meshkovskiy, E. O., A. D. Kurmashev, and V. Ya Frolov. "Fuzzy Coordinated Control of an Electric Drive System of a Four-Wheel Mobile Robot." Proceedings of Tomsk State University of Control Systems and Radioelectronics 23, no. 3 (2020): 61–69. http://dx.doi.org/10.21293/1818-0442-2020-23-3-61-69.

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This paper presents the construction of a fuzzy system controller of a coordinated control system of an electric drive system for a four-wheel mobile robot with two differential drive units. The structure of this system regulator, the rule base, and the expression of the relationship between its elements are shown. In the article the authors show the results of computer experiments in graphs of trajectory error for different configurations of the robot and the system controller coefficient values.

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M.RubayatIslam, S., Shanjida Shawkat, Sumit Bhattacharyya, and Md Khaled Hossain. "Differential Drive Adaptive Proportional-Integral-Derivative (PID) Controlled Mobile Robot Speed Synchronization." International Journal of Computer Applications 108, no. 20 (2014): 5–8. http://dx.doi.org/10.5120/19025-9879.

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Ruan, Zhi Hu, Niu Wang, and Bing Xin Ran. "Motion Model of Two-Wheel Differential Drive Mobile Robot under Variable Load." Applied Mechanics and Materials 668-669 (October 2014): 352–56. http://dx.doi.org/10.4028/www.scientific.net/amm.668-669.352.

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Based on kinematics characteristic of two-wheeled differential drive mobile robot (WMR) and response characteristic of fact motor drive system, this paper presents the analysis method of the equivalent rotation inertia, and the entire vehicle load is assigned to each wheel, and then the wheel load is converted into the corresponding equivalent rotation inertia of the motor shaft of each wheel, and motion model of WMR are obtained for combining with quasi-equivalent (QE) state space model of double-loop direct current motor systems under variable load and kinematics model of WMR under the load changes. By using speed response data of the actual system and combining with genetic algorithm to accurately identify the model parameters. Finally, through experiments results of the WMR motion model and the second order model respectively comparing with the actual system which demonstrates the effectiveness of the proposing method and model.

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Delgado-Mata, Carlos, Ramiro Velázquez, and Carlos A. Gutiérrez. "A Differential-Drive Mobile Robot Driven by an Ethology Inspired Behaviour Architecture." Procedia Technology 3 (2012): 157–66. http://dx.doi.org/10.1016/j.protcy.2012.03.017.

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Mitrović, Srđan T., and Željko M. Ðurović. "Fuzzy Logic Controller for Bidirectional Garaging of a Differential Drive Mobile Robot." Advanced Robotics 24, no. 8-9 (2010): 1291–311. http://dx.doi.org/10.1163/016918610x501444.

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Stefek, Alexandr, Thuan Van Pham, Vaclav Krivanek, and Khac Lam Pham. "Energy Comparison of Controllers Used for a Differential Drive Wheeled Mobile Robot." IEEE Access 8 (2020): 170915–27. http://dx.doi.org/10.1109/access.2020.3023345.

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Seder, Marija, Mato Baotic, and Ivan Petrovic. "Receding Horizon Control for Convergent Navigation of a Differential Drive Mobile Robot." IEEE Transactions on Control Systems Technology 25, no. 2 (2017): 653–60. http://dx.doi.org/10.1109/tcst.2016.2558479.

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Nurmaini, Siti, Kemala Dewi, and Bambang Tutuko. "Differential-Drive Mobile Robot Control Design based-on Linear Feedback Control Law." IOP Conference Series: Materials Science and Engineering 190 (April 2017): 012001. http://dx.doi.org/10.1088/1757-899x/190/1/012001.

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de Melo, Leonimer Flavio, and Jose Fernando Mangili Junior. "Trajectory Planning for Nonholonomic Mobile Robot Using Extended Kalman Filter." Mathematical Problems in Engineering 2010 (2010): 1–22. http://dx.doi.org/10.1155/2010/979205.

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In the mobile robotic systems, a precise estimate of the robot pose with the intention of the optimization in the path planning is essential for the correct performance, on the part of the robots, for tasks that are destined to it. This paper describes the use of RF digital signal interacting with beacons for computational triangulation in the way to provide a pose estimative at bidimensional indoor environment, where GPS system is out of range. This methodology takes advantage of high-performance multicore DSP processors to calculate ToF of the order about ns. Sensors data like odometry, compass, and the result of triangulation Cartesian estimative, are fused for better position estimative. It uses a mathematical and computational tool for nonlinear systems with time-discrete sampling for pose estimative calculation of mobile robots, with the utilization of extended Kalman filter (EKF). A mobile robot platform with differential drive and nonholonomic constraints is used as a base for state space, plants and measurements models that are used in the simulations and validation of the experiments.

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Štefek, Alexandr, Van Thuan Pham, Vaclav Krivanek, and Khac Lam Pham. "Optimization of Fuzzy Logic Controller Used for a Differential Drive Wheeled Mobile Robot." Applied Sciences 11, no. 13 (2021): 6023. http://dx.doi.org/10.3390/app11136023.

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The energy-efficient motion control of a mobile robot fueled by batteries is an especially important and difficult problem, which needs to be continually addressed in order to prolong the robot’s independent operation time. Thus, in this article, a full optimization process for a fuzzy logic controller (FLC) is proposed. The optimization process employs a genetic algorithm (GA) to minimize the energy consumption of a differential drive wheeled mobile robot (DDWMR) and still ensure its other performances of the motion control. The earlier approaches mainly focused on energy reduction by planning the shortest path whereas this approach aims to optimize the controller for minimizing acceleration of the robot during point-to-point movement and thus minimize the energy consumption. The proposed optimized controller is based on fuzzy logic systems. At first, an FLC has been designed based on the experiment and as well as an experience to navigate the DDWMR to a known destination by following the given path. Next, a full optimization process by using the GA is operated to automatically generate the best parameters of all membership functions for the FLC. To evaluate its effectiveness, a set of other well-known controllers have been implemented in Google Colab® and Jupyter platforms in Python language to compare them with each other. The simulation results have shown that about 110% reduction of the energy consumption was achieved using the proposed method compared to the best of six alternative controllers. Also, this simulation program has been published as an open-source code for all readers who want to continue in the research.

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Rokonuzzaman, Mohammad, Shah Muhammad Ferdous, Enaiyat Ghani Ovy, and Md Ashraful Hoque. "Smooth Track-Keeping and Real Time Obstacle Detection Algorithm and its PID Controller Implementation for an Automated Wheeled Line Following Robot." Advanced Materials Research 201-203 (February 2011): 1966–71. http://dx.doi.org/10.4028/www.scientific.net/amr.201-203.1966.

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Line following automated robots is extensively used in industries for smooth running of production. This paper presents a simple and effective solution for path tracking problem for a wheeled automated mobile robot which can be used for material handling in industries. A PID controller has been used for controlling the robot which is capable of moving safely by smooth track-keeping in partially structured environment without any collision with static or moving objects. The purpose of the project is to build a mobile robot which will provide fast, smooth, accurate and safe movement in any given line or track. A straight or wavy line would be simple to follow whereas aT-junction, 90 degree bends, acute angle bends and grid junctions would be difficult to navigate through. This is due to the physical kinematics constraints which are limited to motor response, position and turning radius of the robot. A line sensor configuration has been proposed to improve the navigation reliability of the mobile robot which uses differential drive system. A dynamic algorithm has been developed for detecting and following a specified line which ensures the reliable and safe movement of the robot.

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Meshkovskiy, E. O., V. Ya Frolov, and A. D. Kurmashev. "Nonlinear control of electric drive system of four-wheel mobile robot with two differential drive units." Journal of Physics: Conference Series 1753, no. 1 (2021): 012031. http://dx.doi.org/10.1088/1742-6596/1753/1/012031.

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Bao, Bi Zhen, Ping Yang, and Hu Wen Cao. "A Method for Modeling and Simulation of Differential Drive Mobile Robot Localization Based on EKF Multisensor Fusion." Advanced Materials Research 383-390 (November 2011): 2339–45. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.2339.

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A method was proposed based on principle of EKF (extended Kalman Filter) state estimation to improve the localization precision of differential drive mobile robot. The robot position was estimated by Multisensor fusion of Odometer and laser, which kinematics model, the robot sensor perception model and the sensor error model were presented. The models were introduced into the state estimation and covariance matrix update equation of EKF with match convergence condition and nonlinear error correction covariance matrix.The specific iteration equation was acquired.The simulation results demonstrate the approach of modeling and fusion is accurate and validity.

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Iqbal, Jawad, Rui Xu, Hunter Halloran, and Changying Li. "Development of a Multi-Purpose Autonomous Differential Drive Mobile Robot for Plant Phenotyping and Soil Sensing." Electronics 9, no. 9 (2020): 1550. http://dx.doi.org/10.3390/electronics9091550.

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To help address the global growing demand for food and fiber, selective breeding programs aim to cultivate crops with higher yields and more resistance to stress. Measuring phenotypic traits needed for breeding programs is usually done manually and is labor-intensive, subjective, and lacks adequate temporal resolution. This paper presents a Multipurpose Autonomous Robot of Intelligent Agriculture (MARIA), an open source differential drive robot that is able to navigate autonomously indoors and outdoors while conducting plant morphological trait phenotyping and soil sensing. For the design of the rover, a drive system was developed using the Robot Operating System (ROS), which allows for autonomous navigation using Global Navigation Satellite Systems (GNSS). For phenotyping, the robot was fitted with an actuated LiDAR unit and a depth camera that can estimate morphological traits of plants such as volume and height. A three degree-of-freedom manipulator mounted on the mobile platform was designed using Dynamixel servos that can perform soil sensing and sampling using off-the-shelf and 3D printed components. MARIA was able to navigate both indoors and outdoors with an RMSE of 0.0156 m and 0.2692 m, respectively. Additionally, the onboard actuated LiDAR sensor was able to estimate plant volume and height with an average error of 1.76% and 3.2%, respectively. The manipulator performance tests on soil sensing was also satisfactory. This paper presents a design for a differential drive mobile robot built from off-the-shelf components that makes it replicable and available for implementation by other researchers. The validation of this system suggests that it may be a valuable solution to address the phenotyping bottleneck by providing a system capable of navigating through crop rows or a greenhouse while conducting phenotyping and soil measurements.

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Dudzik, Sebastian. "Application of the Motion Capture System to Estimate the Accuracy of a Wheeled Mobile Robot Localization." Energies 13, no. 23 (2020): 6437. http://dx.doi.org/10.3390/en13236437.

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The paper presents research on methods of a wheeled mobile robot localization using an optical motion capture system. The results of localization based on the model of forward kinematics and odometric measurements were compared. A pure pursuit controller was used to control the robot’s behaviour in the path following tasks. The paper describes a motion capture system based on infrared cameras, including the calibration method. In addition, a method for determining the accuracy of robot location using the motion capture system, based on the Hausdorff distance, was proposed. As a result of the research it was found that the Hausdorff distance is very useful in determining the accuracy of localization of wheeled robots, especially those described by differential drive kinematics.

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Flávio de Melo, Leonimer, Felipe Andrade Allemand Borges, and João Maurício Rosário. "Wheelchairs Embedded Control System Design for Secure Navigation with RF Signal Triangulation." Journal of Information Technology Research 6, no. 2 (2013): 60–92. http://dx.doi.org/10.4018/jitr.2013040104.

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In the mobile robotic systems a precise estimate of the robot pose (Cartesian [x y] position plus orientation angle ?) with the intention of the path planning optimization is essential for the correct performance, on the part of the robots, for tasks that are destined to it, especially when intention is for mobile robot autonomous navigation. This work uses a ToF (Time-of-Flight) of the RF digital signal interacting with beacons for computational triangulation in the way to provide a pose estimative at bi-dimensional indoor environment, where GPS system is out of range. It's a new technology utilization making good use of old ultrasonic ToF methodology that takes advantage of high performance multicore DSP processors to calculate ToF of the order about ns. A mobile robot platform with differential drive and nonholonomic constraints is used as base for state space, plants and measurements models that are used in the simulations and for validation the experiments. After being tested and validated in the simulator, the control system is programmed in the control board memory of the mobile robot or wheelchair. Thus, the use of material is optimized, firstly validating the entire model virtually and afterwards operating the physical implementation of the navigation system.

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Bakirci, Murat. "COMPLETE LOCOMOTION ANALYSIS OF A SMALL DIFFERENTIALDRIVE MOBILE ROBOTIC PLATFORM." International Journal of Advanced Research 9, no. 09 (2021): 53–62. http://dx.doi.org/10.21474/ijar01/13374.

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Mobile robots are becoming a part of more and more research areas due to their structural advantages and the increase in usage areas. Differential drive mobile robots are among the most preferred of this type of robots due to the convenience that they provide in engineering studies. It is quite important to test and structurally investigate primary parts such as motors and its sensors before being used in research applications. Before proceeding to further studies, it is very useful to do such tests as they may provide critical information about the robot which can be quite beneficial in terms of time, effort, and cost. To achieve this task, variety of methods are available in the literature such as structural locomotion tests and system identifiaction. In the first part of this study, locomotion tests of a small mobile robot driven by servo motors and operating with a single microcontroller was performed using the velocity propulsion mode. Three different predefined routes were determined for the robot and the accuracy of the robot moving along these routes was investigated. Through these tests, it is aimed to examine how the robot interprets the basic movements such as rectilinear forward motion, curvilinear motion, and rotation around its own axis. The next part focuses on the system identification of the robot. A data-driven model for the robotic platform was developed to make a mobile robot perform the desired movements and system identification. Various step input commands were sent to the robot under consideration and the responses of the robot wheels to these inputs were examined. Circular movements were made to the robot with a range of velocity input values and the relationship between input and output was examined for both wheels of the robot. In the locomotion tests, it was observed that the robot completed the predetermined routes with minor errors. As a result of these tests, theoretical calculations and experimental results were compared and the reasons for the error parameters were discussed. Through system identification tests, it was observed that the right wheel of the robot was more consistent and produced closer to the expected value for each test performed.

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

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