TY - JOUR
T1 - Path following algorithm for skid-steering mobile robot based on adaptive discontinuous posture control
AU - Ibrahim, Fady
AU - Abouelsoud, A. A.
AU - Fath Elbab, Ahmed M.R.
AU - Ogata, Tetsuya
N1 - Funding Information:
The f irst author is fully funded from the Cultural Af fairs and Missions Department, Egyptian Ministry of Higher Education (MoHE), thus he would like to express his gratitude to the funder for securing this grant.
Funding Information:
The first author is fully funded from the Cultural Affairs and Missions Department, Egyptian Ministry of Higher Education (MoHE), thus he would like to express his gratitude to the funder for securing this grant.
Publisher Copyright:
© 2019, © 2019 Informa UK Limited, trading as Taylor & Francis Group and The Robotics Society of Japan.
PY - 2019/5/3
Y1 - 2019/5/3
N2 - The kinematic model of a skid-steering mobile robot (SSMR) is manipulated using signed polar transformation which represents a discontinuous state transformation. The influence of relative position between the instantaneous center of rotation (ICR) and SSMR center of mass is considered. Then, adaptive state feedback controller is designed and stability regions are studied. Subsequently, a point-to-point tracking algorithm is introduced to track a trajectory that is defined by a set of way-points, which is the more realistic case of dangerous exploration or landmine detection purposes. The closed-loop system is simulated using MATLAB environment and experimentally validated using a modified TURTLEBOT3 Burger. Results show that the proposed controller reaches almost zero steady state error with smooth paths for point stabilization, moreover, good tracking capabilities are demonstrated. The proposed control system integrates both posture and tracking algorithm, thus achieve trajectory tacking which is defined by a set of way-points.
AB - The kinematic model of a skid-steering mobile robot (SSMR) is manipulated using signed polar transformation which represents a discontinuous state transformation. The influence of relative position between the instantaneous center of rotation (ICR) and SSMR center of mass is considered. Then, adaptive state feedback controller is designed and stability regions are studied. Subsequently, a point-to-point tracking algorithm is introduced to track a trajectory that is defined by a set of way-points, which is the more realistic case of dangerous exploration or landmine detection purposes. The closed-loop system is simulated using MATLAB environment and experimentally validated using a modified TURTLEBOT3 Burger. Results show that the proposed controller reaches almost zero steady state error with smooth paths for point stabilization, moreover, good tracking capabilities are demonstrated. The proposed control system integrates both posture and tracking algorithm, thus achieve trajectory tacking which is defined by a set of way-points.
KW - SSMR
KW - adaptive control
KW - discontinuous control
KW - point-to-point tracking
KW - signed polar coordinates
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U2 - 10.1080/01691864.2019.1597764
DO - 10.1080/01691864.2019.1597764
M3 - Article
AN - SCOPUS:85063808674
SN - 0169-1864
VL - 33
SP - 439
EP - 453
JO - Advanced Robotics
JF - Advanced Robotics
IS - 9
ER -