Hardware design and distributed embedded control architecture of a mobile soccer robot

Designing robust, modular and fast mobile robots, operating in high dynamic environments is a challenging task. This includes design of the mechanics and the control system of the robot. This paper presents the modular hardware design of a mobile soccer robot platform, including the mechanics, electronic system and the low-level distributed control architecture of the robot. The basic idea behind this paper is not to introduce a new distributed control architecture, both at low and high levels of control, but to focus on a novel approach to manage the distributed control system of a single robot, consisting of a number of microcontroller based modules connected together through a data bus.     

基于模糊控制的机器人寻线控制系统改进设计

针对移动机器人寻线控制的传统寻线控制系统使机器人在导引线上摇摆前进的问题,引入模糊控制的思想,并在此基础上设计一种新型基于多传感器信息融合的寻线控制系统,并根据反模糊化结果和实验修正给出核心程序。实际运行显示此改进设计很大程度改变机器人寻线中的摇摆现象,实现平稳的寻线控制。此设计思想对各种条件下的移动机器人寻线控制具有一定参考价值。     

基于模糊控制的机器人寻线控制系统改进设计

针对移动机器人寻线控制的传统寻线控制系统使机器人在导引线上摇摆前进的问题,引入模糊控制的思想,并在此基础上设计一种新型基于多传感器信息融合的寻线控制系统,并根据反模糊化结果和实验修正给出核心程序,实际运行显示此改进设计很大程度改变机器人寻线中的摇摆现象,实现平稳的寻线控制.此设计思想对各种条件下的移动机器人寻线控制具有一定参考价值.     

智能轮式移动机器人嵌入式控制系统设计

为了优化智能轮式移动机器人的控制系统,提出了一种基于ARM微处理器和复杂可编程逻辑器件(CPLD)的嵌入式控制系统.硬件部分采用以ARM和CPLD为核心的模块化设计,软件部分采用实时操作系统μC/OS-Ⅱ,并设计了电机速度调节的控制算法.实现了对机器人驱动电机、超声传感等任务模块的系统控制.仿真和运行实验结果表明,系统运行稳定,控制灵活,达到预期的设计目标.     

轮式移动机器人运动控制系统研究与设计

基于差速转向原理,设计了一套轮式移动机器人的运动控制系统。首先选择小车的模型(运动模型),进行运动学和力学分析,得出左右两侧车轮的速度约束,然后设计机器人的运动控制模块和无线遥控模块。运动控制模块可分为控制电路和驱动电路两大模块,控制电路以DSP作为核心控制部件,捕获编码器的信息并产生PWM信号;驱动电路以直流电机H桥集成芯片为驱动部件,接收来自DSP的控制信号。无线遥控模块选用AVR单片机作为控制核心,实现A/D转换和指令发送等功能。实验证明,该系统不仅能实现较长距离的无线控制,传输可靠,而且速度控制准确,车体运动灵活。     

Autonomous and teleoperation control of a mobile robot

The present work proposes an autonomous tracking control system and a control structure to combine autonomous and teleoperation commands in a bicycle-type mobile robot. This compounded operation renders great flexibility to the control system of the mobile robot. For autonomous operation, a simple tracking controller that includes compensation of the robot dynamics is developed. This tracking control system is proved to be stable in the sense that it asymptotically reaches the tracking objective. Teleoperation with visual access to the robot’s workspace is integrated via a joystick with the autonomous operation of the robot. Simulations and experimental results on a prototype robot show the feasibility and performance of the proposed control system.     

Research on point stabilization of a wheeled mobile robot using fuzzy control optimized by GA

A point stabilization scheme of a wheeled mobile robot(WMR)which moves on uneven surface is presented by using fuzzy control.Taking the kinematics and dynamics of the vehicle into account,the fuzzy controller is employed to regulate the robot based on a kinematic nonlinear state feedback control law.Herein,the fuzzy strategy is composed of two velocity control laws which are used to adjust the speed and angular velocity,respectively.Subsequently,genetic algorithm(GA)is applied to optimize the controller parameters.Through the self-optimization,a group of optimum parameters is gotten.Simulation results are presented to show the effectiveness of the control strategy.     

移动机器人路径跟踪模糊控制系统设计及仿真

本文的主要研究内容是模糊逻辑在移动机器人已知全局路径的情况下通过对局部路径的分析进行轨迹跟踪运动中的应用。利用模糊逻辑在移动机器人运动控制中的优越性,结合驾驶员的丰富经验设计了移动机器人的模糊控制器,包括一个预瞄距离确定器和一个运动模糊控制器。设计出移动机器人运动控制进行仿真的方法及程序流程,对其进行计算机仿真验证控制...     

移动机器人平衡控制系统研究与设计

控制系统以AT89S52单片机为核心,由直流减速电机驱动电路、引导线检测电路、倾角检测电路、路程检测电路、键盘显示电路、电源电路等组成,可以实现移动机器人自动寻迹、确定平衡点,同时具有操作时间显示、路程累计等功能.利用PWM技术对直流减速电机进行调速,采用红外传感器来寻线和检测机器人运动方向,倾角传感器来检测平衡板的角度,并对传感器输出的电压信号进行了滤波处理.     

Multiobjective control of a vehicle with triple trailers

We consider the backing-up control of a vehicle with triple trailers using a model-based fuzzy-control methodology. First, the vehicle model is represented by a Takagi-Sugeno fuzzy model. Then, we employ the so-called "parallel distributed compensation" design to arrive at a controller that guarantees the stability of the closed-loop system consisted of the fuzzy model and controller. The control-design problem is cast in terms of linear matrix inequalities (LMIs). In addition to stability, the control performance considerations such as decay rate, constraints on input and output, and disturbance rejection are incorporated in the LMI conditions. In application to the vehicle with triple trailers setup, we utilize these LMI conditions to explicitly avoid the saturation of the steering angle and the jackknife phenomenon in the control design. Both simulation and experimental results are presented. Our results demonstrate that the fuzzy controller effectively achieves the backing-up control of the vehicle with triple trailers while avoiding the saturation of the actuator and "jackknife" phenomenon.     

Sensor-based fuzzy reactive navigation of a mobile robot throughlocal target switching

Fuzzy reactive control, incorporating a local target switching scheme, is applied to the automatic navigation of an intelligent mobile robot in an unknown and changing environment. Sensed-ranging signals and relative target position signals are input to the fuzzy controller. The steering angle and the velocity change are inferred to drive the mobile robot. A reactive rule base governing the robot behavior is synthesized from the human heuristics with respect to various situations of environment. A local target switching scheme is proposed to serve as a front-end processor of the fuzzy active controller and to deal with the local trapping and wandering cycle problem in the navigation of a behavior based mobile robot. The algorithm is described, together with some particular considerations about implementation. Efficiency and effectiveness of the proposed approach are verified through simulation and experiments conducted on a Nomad 200 mobile robot     

基于ADT850的移动机器人运动控制系统设计

主要介绍了一种移动机器人的运动控制系统硬、软件结构。控制系统是由工业PC,ADT850运动控制卡及相关传感器组成;操作系统采用Windows98系统,采用VisualC 6.0开发,并应用模块化及Windows线程的多任务处理机制实现控制程序设计;根据状态反馈控制理论,设计了移动机器人路径跟踪控制算法。实验论证了此控制系统及控制算法的有效性。     

Autonomous decentralized control for formation of multiple mobile robots considering ability of robot

The purpose of this study is to control multiple mobile robots in formation considering the ability of a robot using the "Leader-Following" strategy. There are three features of this study. First, a performance index that shows mobile robot ability is quantified. Specifically, maximum acceleration and maximum velocity of a robot are defined by maximum admissible rotation and maximum continuous torque of a motor. The performance index is quantified from arrival time on the destination using these parameters. Second, a new controller is proposed based on the performance index, so that robots can be controlled according to robot ability. Third, a compliance controller using a virtual repulsion is suggested in this paper, so that each robot can avoid collision. Finally, simulation and experiments are done in a real-time system using RT-Messenger. RT-Messenger allows robots to transmit information regarding their positions to each other in real time. These results shows the validity of the proposed method.     

Hybrid fault adaptive control of a wheeled mobile robot

A fault adaptive control methodology for mobile robots is presented. The robot is modeled as a continuous system with a supervisory controller. The physical processes of the robot are modeled using bond graphs, and this forms the basis of a combined qualitative reasoning and quantitative model-based estimation scheme for online fault detection and isolation during robot operation. A hierarchical-control accommodation framework is developed for the supervisory controller that determines a suitable control strategy to accommodate the isolated fault. It is shown that for small degradations in actuation effort, a robust controller achieves fault accommodation without significant loss of performance. However, for larger faults, the supervisor needs to switch among several controllers to maintain acceptable performance. The switching stability among a set of trajectory tracking controllers is presented. Simulation results verify the proposed fault adaptive control technique for a mobile robot.     

Involving users in the design of a mobile office robot

This paper describes the experiences from the iterative design of a fetch-and-carry-robot, to be used by motion-impaired people in an office environment. A user-centered approach was chosen, involving several steps of information elicitation to inform the design. We describe the main elements of the design process, the communication and interaction components of the final prototype system, and an evaluation of the system in the form of a longitudinal study. Results from this study confirmed that continuous testing with users is extremely important in the design process for service robots. The trials have also revealed that interaction design for robots should not focus only on the individual user, but that other members in the environment can be seen "secondary users" or "bystanders" who tend to relate to the robot actively in various ways. We conclude that these social and collaborative issues should be studied in future research.     

Orientation control of a differential mobile robot through wheel synchronization

This paper presents the orientation control of a differential mobile robot through the synchronization of the motions of two driving wheels, using an adaptive coupling control algorithm. The orientation error is usually caused by the synchronization error between two driving wheels and has the largest impact on the motion accuracy. The proposed controller incorporates the cross-coupling technology into an adaptive control architecture and guarantees asymptotic convergence to zero of the position tracking errors of two wheels as well as the synchronization error between them. Experiments demonstrate that the proposed control method exhibits better motion performance than traditional control methods especially in the orientation control.     

Noninvasive brain-actuated control of a mobile robot by human EEG

Brain activity recorded noninvasively is sufficient to control a mobile robot if advanced robotics is used in combination with asynchronous electroencephalogram (EEG) analysis and machine learning techniques. Until now brain-actuated control has mainly relied on implanted electrodes, since EEG-based systems have been considered too slow for controlling rapid and complex sequences of movements. We show that two human subjects successfully moved a robot between several rooms by mental control only, using an EEG-based brain-machine interface that recognized three mental states. Mental control was comparable to manual control on the same task with a performance ratio of 0.74.     

Hierarchical autonomous switching control of a multi-modes omnidirectional mobile robot

Adequate control flexibility and tracking precision of the omnidirectional mobile robot (OMR) are difficult to be guaranteed with a fixed control mode. To address this challenge, this paper presents a modified hierarchical autonomous switching control scheme for an OMR with multiple maneuver-modes, which is capable of switching the alternative modes to adapt to the operational conditions and performing a satisfactory trajectory tracking control. Utilizing a hierarchical switching signal, the design begins by formulating a hybrid discrete OMR system with multiple subsystems cascading to its alternative kinematic states. Under the integrated system constraints, a new hierarchical switched fractional-order receding horizon control is presented to offer more adjusting flexibilities, which constructs a novel fractional-order cost function and then derives a numerical solvable solution. Meanwhile, with a Lyapunov-principle-based supervisory variable, an autonomous switching law is proposed so that the preferred subsystem can be selected to enhance the moving maneuverability. Under certain average dwell time conditions, the asymptotic stability of the resultant system is guaranteed. Finally, comparative experiments implemented on the real-world scenarios are provided to demonstrate the superior tracking performance and enhanced robustness of the proposed hierarchical autonomous switching control method as compared to traditional control schemes.     

Implementation of human-like driving skills by autonomous fuzzy behavior control on an FPGA-based car-like mobile robot

In this paper, the concepts of car maneuvers, fuzzy logic control (FLC), and sensor-based behaviors are merged to implement the human-like driving skills by an autonomous car-like mobile robot (CLMR). Four kinds of FLCs, fuzzy wall-following control, fuzzy corner control, fuzzy garage-parking control, and fuzzy parallel-parking control, are synthesized to accomplish the autonomous fuzzy behavior control (AFBC). Computer simulation results illustrate the effectiveness of the proposed control schemes. The setup of the CLMR is provided, where the implementation of the AFBC on a field-programmable gate array chip is also addressed. Finally, the real-time implementation experiments of the CLMR in the test ground demonstrate the feasibility in practical car maneuvers.