Waypoints are control points through which a robot has to move to reach the goal. Waypoint defined trajectories may have discontinuities in the curvature. The waypoint tracking controller should be designed to take care of such discontinuities. In the current work a control strategy is developed for waypoint trajectory tracking control of differential drive mobile robot. The waypoint trajectory requiring sharp turns is considered in the design of controller. Further the control gains are optimized for reducing the tracking errors. The performance of the controller is analyzed using simulation study. The obtained results suggest that the new controller is a more suitable candidate for waypoint tracking. © 2019 IEEE.

Somashekhar S. Hiremath

Department of Mechanical Engineering

Mobile robots

Trajectories

Control gains

Control point

Control strategies

DIFFERENTIAL DRIVE

Simulation studies

TRACKING ERRORS

Trajectory tracking control

WAY-POINT TRACKING

Controllers

IIT Madras is a public technical and research university located in Chennai, Tamil Nadu. Founded in 1959, it is recognised as an Institute of National Importance.

IIT Madras has been ranked as the top engineering institute in India for four years in a row by the National Institutional Ranking Framework of the MHRD

It currently offers undergraduate, postgraduate and research degrees across 16 disciplines in Engineering, Sciences, Humanities and Management. About 596 faculty belonging to science and engineering departments and centres of the Institute are engaged in teaching, research and industrial consultancy.

IIT Madras

2019 6th International Conference on Control, Decision and Information Technologies, CoDIT 2019

Finding an optimal trajectory from an initial point to a final point through closely packed obstacles, and controlling a Hilare robot through this trajectory, are challenging tasks. To serve this purpose, path planners and trajectory-tracking controllers are usually included in a control loop. This paper highlights the implementation of a trajectory-tracking controller on a stepper motor-driven Hilare robot, with a trajectory that is described as a set of waypoints. The controller was designed to handle discrete waypoints with directional discontinuity and to consider different constraints on the actuator velocity. The control parameters were tuned with the help of multi-objective particle swarm optimization to minimize the average cross-track error and average linear velocity error of the mobile robot when tracking a predefined trajectory. Experiments were conducted to control the mobile robot from a start position to a destination position along a trajectory described by the waypoints. Experimental results for tracking the trajectory generated by a path planner and the trajectory specified by a user are also demonstrated. Experiments conducted on the mobile robot validate the effectiveness of the proposed strategy for tracking different types of trajectories. © 2018

Fulltext

Engineering

Control of Velocity-Constrained Stepper Motor-Driven Hilare Robot for Waypoint Navigation

IFAC-PapersOnLine

Trajectory Tracking of Autonomous Mobile Robots Using Nonlinear Dynamic Inversion

2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)

De-coupled dynamics control of a spherical rolling robot for waypoint navigation

Robotica

Waypoints guidance of differential-drive mobile robots with kinematic and precision constraints

Procedia Technology

Trajectory Tracking and Control of Differential Drive Robot for Predefined Regular Geometrical Path

Development of waypoint tracking controller for differential drive mobile robot

Journal	Data powered by Typeset2019 6th International Conference on Control, Decision and Information Technologies, CoDIT 2019
Publisher	Data powered by TypesetInstitute of Electrical and Electronics Engineers Inc.
Open Access	No