Explicit lateral force control of an autonomous mobile robot with slip

被引：0
|
作者：
Jung, S [1 ]
Hsia, TC [1 ]
机构：
[1] Chungnam Natl Univ, Dept Mechatron Engn, Taejon 305764, South Korea
来源：
2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年
关键词：
mobile robot; explicit force control; force tracking;
D O I：
10.1109/IROS.2005.1545278
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, lateral force control of a mobile robot in contact with an object or environment is presented. Considering slip condition of wheels, the front wheel steered bicycle model of the mobile robot is derived. The explicit force control algorithm is applied to regulate contact force generated from the object which minimizes a force error between a desired force and an actual force. Performances of force tracking control for different stiffness of environment have been tested. Simulation results show that the proposed control algorithm works quite well to maintain desired contact force on the environment.
引用
收藏
页码：2047 / 2052
页数：6
相关论文
共 50 条
  • [21] Autonomous Navigation Strategy in Mobile Robot
    Cai, Jianxian
    Li, Lixin
    JOURNAL OF COMPUTERS, 2013, 8 (08) : 2118 - 2125
  • [22] Implementation and control of a roadway crack tracking mobile robot with force regulation
    Cho, HT
    Jeon, P
    Jung, S
    2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 2444 - 2449
  • [23] Control points searching algorithm for autonomous mobile robot navigation with obstacle avoidance
    Hassani, Imen
    Maalej, Imen
    Rekik, Chokri
    2019 19TH INTERNATIONAL CONFERENCE ON SCIENCES AND TECHNIQUES OF AUTOMATIC CONTROL AND COMPUTER ENGINEERING (STA), 2019, : 152 - 157
  • [24] Adaptive Speed Control for Autonomous Mobile Robot Using Fuzzy Logic Controller
    Ahmad, Hamzah
    Mustafa, Wan Nur Diyana Wan
    Mohamed, Mohd Rusllim
    TRENDS IN INTELLIGENT ROBOTICS, AUTOMATION, AND MANUFACTURING, 2012, 330 : 67 - 74
  • [25] Control of Autonomous Mobile Robot Using Map Matching with Optimized Search Range
    Komiya, Kouhei
    Miyashita, Shunsuke
    Maruoka, Yutaka
    Uchimura, Yutaka
    ELECTRICAL ENGINEERING IN JAPAN, 2015, 190 (04) : 66 - 75
  • [26] Control of autonomous mobile robot using map matching with optimized search range
    Komiya, Kouhei
    Miyashita, Shunsuke
    Maruoka, Yutaka
    Uchimura, Yutaka
    IEEJ Transactions on Industry Applications, 2013, 133 (05) : 502 - 509
  • [27] Stability analysis of a vision-based control design for an autonomous mobile robot
    Coulaud, Jean-Baptiste
    Campion, Guy
    Bastin, Georges
    De Wan, Michel
    IEEE TRANSACTIONS ON ROBOTICS, 2006, 22 (05) : 1062 - 1069
  • [28] Neural Network Control of a Four-Wheeled Mobile Robot Subject to Wheel Slip
    Hendzel, Zenon
    Trojnacki, Maciej
    MECHATRONICS: IDEAS FOR INDUSTRIAL APPLICATIONS, 2015, 317 : 187 - 201
  • [29] CONTROL SYSTEM FOR OBJECT TRANSPORTATION BY A MOBILE ROBOT WITH MANIPULATOR COMBINED WITH MANUAL OPERATION AND AUTONOMOUS CONTROL
    Matsuda, Yoshitaka
    Sato, Yoshitaka
    Sugi, Takenao
    Goto, Satoru
    Egashira, Naruto
    INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL, 2022, 18 (02): : 621 - 631
  • [30] Navigation of an autonomous mobile robot by coordination of behaviors
    Benreguieg, M
    Maaref, H
    Barret, C
    INTELLIGENT AUTONOMOUS VECHICLES 1998 (IAV'98), 1998, : 69 - 74
12345