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

Author: Grafiati

Published: 4 June 2021

Last updated: 1 February 2022

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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-tole

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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 plat

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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 simul

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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

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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 a

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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

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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 mobil

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11

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 a

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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 propose

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13

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 propos

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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

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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

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17

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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18

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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19

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 con

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20

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 t

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21

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 t

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22

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 co

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23

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

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24

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 characteriz

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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 result

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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 Robot

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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

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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, m

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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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30

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' maneuverabili

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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 an

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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

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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, comp

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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 plannin

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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

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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 demonstra

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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 t

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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 r

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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 u

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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

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