Trajectory Tracking of Swing-Arm Type Omnidirectional Mobile Robot

Qifan Ran, Shengzhuo Yao, Xinbo Chen, Guijun Bi and Ha Quang Thinh Ngo

Mathematical Problems in Engineering, 2022, vol. 2022, 1-12

Abstract: In order to enhance the omnidirectional maneuverability of outdoor wheeled mobile robots, a mobile robot driven by a common wheel is proposed, which realizes four-wheel steering (4WS), oblique motion mode, and spot turn modes according to different power distribution and angle of leg rotation. A dual-mode hybrid controller is designed based on the oblique and 4WS modes, in which multipoint prescanning trajectory tracking control is used for the oblique mode, and incremental linear time-varying model predictive control (ILTV-MPC) is used for the 4WS mode. The constraints required for the dual-mode controller are obtained by experimenting with the test prototype’s transverse and longitudinal tracking performance. A joint MATLAB/CARSIM simulation platform is used to compare and verify the performance of each mode controller under two operating conditions. In the first condition, the tracking accuracy of the 4WS mode can be achieved by using the oblique motion mode, and the transverse sway angle variation is significantly reduced. In the second working condition, the oblique motion mode is better than the tracking effect of the 4WS mode overall. The results show that the oblique motion mode can be used instead of the 4WS mode for trajectory tracking under a small-curvature reference trajectory.

Date: 2022
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/mpe/2022/3297789.pdf (application/pdf)
http://downloads.hindawi.com/journals/mpe/2022/3297789.xml (application/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:3297789

DOI: 10.1155/2022/3297789

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().