移动机器人控制器无线技术比较研究

无线技术的选择取决于应用程序的类型,要考虑以下条件:范围、频率和数据率。研究了不同移动机器人控制器的无线技术,包括蓝牙、无线网络和无线局域网。通过比较三者的无线技术频率、数据速率和范围,分析了各自的优缺点。讨论了应用程序、传输数据以及信息流程。

基于DSP与USB总线的移动机器人控制系统

一种基于DSP与USB总线的新型开放式移动机器人控制系统,其机器人以PC为上位计算机,用一块DSP运动控制卡对机器人的两个步进电机进行控制。并采用USB总线进行上下位机之间的通讯,很好地实现了机器人的实时控制。设计制作的一种分布式超声环境探测系统,可用于实现移动机器人的环境地图建立、定位、目标跟踪、导航、避障等功能。

多个轮式移动机器人沿同一轨迹曲线运动的编队控制研究

针对多个轮式移动机器人在狭长路段的编队运动,在领航-跟随法的框架下,研究了含输出约束的多个轮式移动机器人的编队控制设计问题。提出的控制策略可在系统受到外界干扰时,实现领航者和跟随者沿同一目标轨迹曲线运动并保持一定的距离。对于领航者,设计了基于动态跟踪目标的控制器,将原跟踪控制问题转化为对轨迹曲线曲率的跟踪。对于跟随者,基于运动中领航者与跟随者之间的几何关系,利用虚拟结构方法和障碍李雅普诺夫函数方法设计了一种鲁棒控制器,保证了跟随误差在一定范围,且使所有跟随者都能精确完成编队运动任务。数值模拟结果表明了所提控制策略的有效性。

多移动机器人的领航者模式编队控制

编队控制是多机器人协作的最重要的研究领域,提出的机器人控制算法具有鲁棒性是非常必要的。最近很少有提出的鲁棒控制器考虑动力学,而是依靠保守的假设,或基于滑模受到的抖振问题来获得鲁棒性。上述研究不仅考虑运动学和动力学,而且在非完整多移动机器人编队中考虑执行机构的动力学及其不确定性。提出了一个新的鲁棒控制技术,可以有效地处理系统中的未知参数和不确定性,放宽了保守的假设,得出鲁棒控制系统的设计,并进行了数学分析,而且根据李雅普诺夫定理证明系统的稳定性。仿真结果表明,提出的鲁棒控制方法的有效性。

轮式移动机器人预定时间轨迹跟踪控制

在现有的轨迹跟踪控制中,跟踪误差的收敛时间通常与误差初始值有关,且关于非完整系统预定时间轨迹跟踪的控制方法很少.针对上述问题提出了一种使非完整轮式移动机器人系统可在预定时间跟踪上参考轨迹的控制方法.首先,通过坐标变换,将跟踪误差系统转变为一个由角度误差构成的一阶子系统和一个由位置误差构成的二阶子系统;然后,分别针对角度误差系统和位置误差系统设计机器人的角速度输入和速度输入,使得角度误差和位置误差在预定时间内收敛到零;最后,利用Lyapunov方法证明了所设计控制律的有效性.试验结果表明,提出的控制方法可使机器人在预定时间跟踪上参考信号,且实际收敛时间与理论计算时间相同,比现有的控制方法更加精确.

SLAM问题中机器人定位误差分析与控制

移动机器人同步定位与建图问题(Simultaneous localization and mapping,SLAM)是机器人能否在未知环境中实现完全自主的关键问题之一.其中,机器人定位估计对于保持地图的一致性非常重要.本文分析了SLAM问题中机器人定位误差的收敛特性.分析表明随着机器人的运动,机器人定位误差总体上逐渐增大;在完全未知环境中无法预测机器人定位误差的上限.根据理论分析,本文提出了一种控制机器人定位误差在单位距离上增长速度的算法.该算法通过搜索获得满足定位误差限制的最佳的机器人运动速度,从而控制机器人定位误差的增长.

基于改进的生物激励神经网络机器人路径规划算法

针对传统生物激励神经网络(BINN)在点对点全局路径规划中存在的路径偏离和路径非最优问题,提出了基于路径修正和无障碍理想路径制导的生物激励神经网络算法;路径规划的初始阶段,通过判断起始单元外部激励输入和起始单元活性值大小决定是否触发路径生成策略,从而实现初始路径修正;在生成下一位置单元的算法中结合无障碍理想路径的导向,引入实际路径单元与无障碍理想路径单元间的理想路径接近率,使路径神经元活性值增大,从而实现路径优化;在静态复杂环境下,分别以3种算法进行了对比实验;实验结果表明,改进后的路径规划算法相比传统生物激励神经网络算法和基于目标制导的生物激励算法,不仅解决了路径规划初始阶段的路径偏离问题,而且使路径长度和路径转折次数更低,效率更高。

变质心喷砂除锈移动平台自适应全局鲁棒超螺旋滑模控制

由于喷砂除锈并联机器人移动平台的质心会随升降机运动而变化,为实现高性能轨迹跟踪控制变质心移动平台,提出一种自适应全局鲁棒超螺旋滑模控制算法。首先,根据移动平台质心坐标与轨迹跟踪参考点的几何位置关系推导质心速度方程,建立考虑质心变化的移动平台动力学模型。然后,基于该模型设计一种自适应全局鲁棒超螺旋滑模控制算法,并在全局滑模面中引入超螺旋滑模控制消除趋近阶段,保证系统全局鲁棒性。最后,引入切换增益自适应律提高系统收敛速度。实验结果表明,该算法既能增强系统鲁棒性,又改善了轨迹跟踪的动态品质,并采用Lyapunov直接法证明系统能在有限时间内渐进稳定,为处理移动平台质心变化提供新的方法。

Multi-sensor systems and information processing of mobile robot in uncertain environments

The PBJ- 01 robot is a kind of mobile robot featuring six wheels and two swing arms which can help it to fit many terrains. The robot has a sophisticated sensor system, which includes ultrasonic sensors, tentacle sensors and a vision sensor. The PBJ- 01 adopts behavior-based reactive control architecture in which the key part is an object recognition system based on a fuzzy neural network. Simulation validates that this system can conclude the obstacle type from the sensor data, and help the robot decide whether to negotiate or to avoid obstacles.

Mechanical design and locomotion control of a homogenous lattice modular self-reconfigurable robot

In this paper, we propose a novel, 3D, like cubic shape, modular self-reconfigurable (MSR) robot named M-Cubes. Its key mechanical components are analyzed in detail. By communicating with the neighboring modules, each unit employs its automatic lock device composed of a pin and a hole on each connection plane which can connect or disconnect with neighboring modules. The M-Cubes system consisting of many identical modules cooperates to change their connection, and then the whole structure transforms into arbitrary structure. Furthermore, we describe its locomotion control based on the driving function and the adjacency matrix which is effective for solving the computationally difficult problem and optimizing the system motion path during the self-reconfiguration process. Finally, a simulation experiment using java 3D technology, proved the new method for controlling modular robot is robust and useful.

Improved Behaviour Control on Laser Cruise of Autonomous Mobile Robot

The software of behaviour-based algorithm~ was parted to several functional modules which represented different behaviours with different priorities. A basic algorithm with S-type arbiter and an improved algorithm with I-type arbiter were compared. The improved algorithm can reduce judging time and avoid some mistakes of the basic one. In mapping obstacles, the robot adjusted the spread angle according to different distances to obstacles in scaled vector field histogram （SVFH） algorithm, and then the robot turned more sharply in near obstacles than in far obstacles, which made the robot move more safely and smoothly in a cluttered room.

Control of trajectory tracking of two-wheeled differential spherical mobile robot

This paper presents a two-wheeled differential spherical mobile robot in view of the problems that the motion of spherical robot is difficult to control and the sensor is limited by the spherical shell.The robot is simple in structure,flexible in motion and easy to control.The kinematics and dynamics model of spherical mobile robot is established according to the structure of spherical mobile robot.On the basis of the adaptive neural sliding mode control,the trajectory tracking controller of the system is designed.During the simulation of the s-trajectory and circular trajectory tracking control of the spherical mobile robot,it is concluded that the spherical mobile robot is flexible in motion and easy to control.In addition,the simulation results show that the adaptive neural sliding mode control can effectively track the trajectory of the spherical robot.The adaptive control eliminates the influence of unknown parameters and disturbances,and avoids the jitter of left and right wheels during the torque output.

Adaptive trajectory tracking control of two-wheeled self-balance robot

Wheeled mobile robot is one of the well-known nonholonomic systems. A two-wheeled sell-balance robot is taken as the research objective. This paper carried out a detailed force analysis of the robot and established a non-linear dynamics model. An adaptive tracking controller for the kinematic model of a nonhotonomic mobile robot with unknown parameters is also proposed. Using control Lyapunov function （CLF）, the controller＇s global asymptotic stability has been proven. The adaptive trajectory tracking controller decreases the disturbance in the course of tracking control and enhances the real-time control characteristics. The simulation result indicated that the wheeled mobile robot tracking can be effectively controlled.

Development of Independent Moving Puppet Robot

This paper is about the automation of the marionette performance. A method to solve the problem on the mobility of the automated marionette performance is proposed. Since it is difficult to control the marionette by hands, as an alternative, the automated marionette is studied. However, the automtic marionette performance is limited in the silence and mobility. Therefore, an independent shifter to move freely on the stage is required. The magnetic device which connects the movable robot and the marionette controlling robot is conceived. The magnetic device is improved and applied by considering the features of the marionette robot, which is the irregular movement of the marionette controller and of the parallel limited area. The burden of being trapped on the magnet is minimized by dividing the robot to the upper and lower parts of the marionette performance stage. The direction of the magnet is considered to make the mobile robot to move freely. Thus, the efficiency and safety of the device is confirmed by balancing the strength with the permanent magnet.

Direct and Inverse Kinematic Analysis of a Leg-wheeled Passive Wheel Mobile Robot - Ice-skater Robot

A new passive wheel type of leg-wheeled mobile robot based on rolling principle was introduced. To enhance the stability and maintain vertical to the ground of wheels, four passive wheels were installed at the end of four legs respectively and parallel mechanisms were used as legs. And an inertia coordinate system and a robot coordinate system were established, the related kinematic equation of the robot was gotten according to some assumptions after the configuration or the posture of wheels and legs was analyzed. At the same time, the turning conditions of the robot were also obtained. Based on the motion principle, the VSS-based logic control system was designed and the skating straight experiments and the turning experiments were conducted. And some conclusions were drawn.

Two types of coaxial self-balancing robots

Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in cities.Mechanical designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,respectively.The experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 kg.Furthermore,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.

Minimum-time trajectory planning based on the shortest path for the wheeled mobile robot

The time-optimal trajectory planning is proposed under kinematic and dynamic constraints for a 2-DOF wheeled robot. In order to make full use of the motor’s capacity, we calculate the maximum torque and the minimum torque by considering the maximum heat-converted power generated by the DC motor. The shortest path is planned by using the geometric method under kinematic constraints. Under the bound torques, the velocity limits and the maximum acceleration (deceleration) are obtained by combining with the dynamics. We utilize the phase-plane analysis technique to generate the time optimal trajectory based on the shortest path. At last, the computer simulations for our laboratory mobile robot were performed. The simulation results prove the proposed method is simple and effective for practical use.

Relay switched, scalable topology control for mobile robot networks based on motion synchronization

A mobile robot network is said to be easily scalable to any number of robots if its performance is kept almost fixed after these robots are added or some fail in the network. An interaction dynamics model based on motion synchronization is first established. Considering the mobility of mobile robot networks, we propose a relay switched, distributed topology control for the scalable network to drive neMy added robots to the most suitable positions with more neighbors as well as self-heal the blank positions of failed robots, and give a metric of the topology structure for evaluating the performance of network topologies. Then, we prove the stability of motion synchronization with the individual control based on Lyapunov exponent. Finally, the results of simulations have demonstrated the validity of the proposed modeling and control methods.

Team-oriented programming for multiple mobile robots

This paper presnts a team-oriented programming method specially designed for multiple mobile robots. The team, which is a typical constitution structure in multi-robot system, forms after the user selects suitable robots, assigns their roles and sets related parameters. Team behavior module are introduced for the team-level behavior description and the temporal chain of these modules, realized by finite state automata, partitions the team tasks into discrete operating states and triggers. A graphical programming tool is designed for the team task description with visual diagrams. The real robots experiment of adaptive formation shows the system＇s usability and effectivity.

A mobile self-reconfigurable robot based on modularity

A novel mobile self-reconfigurable robot is presented. This robot consists of several independent units. Each unit is composed of modular components including ultrasonic sensor, camera, communication, computation, and mobility parts, and is capable of simple self-reconfiguring to enhance its mobility by expanding itself. Several units can not only link into a train or other shapes autonomously via camera and sensors to be a united whole robot for obstacle clearing, but also disjoin to be separate units under control after missions. To achieve small overall size, compact mechanical structures are adopted in modular components design, and a miniature advanced RISC machines （ARM） based embedded controller is developed for minimal power consumption and efficient global control. The docking experiment between two units has also been implemented.