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Abstract: - Home service robot are not working in the fixed task such as industrial robot, because they are together with
human in the same indoor space, but have to do in much more flexible and various environments. Most of them are
developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In
these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomic
robot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional
mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more
difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth
estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual
PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact
estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In
this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the
mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance
of the developed mobile robot is confirmed through live tests of path control task.
Key-Words: -Omni-Directional Mobile Robot, Holonomic System, Tracking, Azimuth, Fuzzy Inference, Gyro-Sensor
éw& m1 ù éw m1 ù é f1 ù The state and output equations (6) and (7) are
ê ú ê ú Rê ú described in the absolute coordinate system. It should be
&
J 0 êw m 2 ú + b0 êw m 2 ú + ê f 2 ú
n noted, however, that the control input is the quantity in
êë w& 3 úû êëw m 3 úû êë f 3 úû (6) the moving coordinate system. Therefore, the control
é E1 ù éw m1 ù input in the absolute coordinate system must be
k 2 ê ú k 2 k3 êw ú transformed into the control input for each assembly, i.e.,
= E2 -
Ra ê ú Ra ê m2 ú signal expressed in the moving coordinate system, if the
êë E3 úû êëw m 3 úû
control input is designed in the absolute coordinate
From combination of the upper equations, we get the system. Then, the transformation for each input can be
dynamic model of the mobile robot in the body frame derived from kinematics as follows.
with the applied motor voltage E1 , E 2 , E 3 as shown in
equation (7).
é x& ù écosy (k ) - siny (k ) 0ù éu ù
ê y& ú = ê siny (k ) cosy (k ) 0ú ê v ú (8)
éu& ù é rv ù ê ú ê úê ú
ê v& ú = G -1 ê- rv ú - G -1 HBBæç k 2 × k 3 + b ö÷ êëy& úû êë 0 0 1úû êë r úû
ê ú ê ú ç R 0÷
êë r& úû êë 0 úû è a ø
(7) A trajectory controller for an omni-directional mobile
éu ù é E1 ù robot needs a precise sensing data of its azimuth and
n2 ê ú k n êE ú exact estimation of reference azimuth value. It has
´ 2 ê v ú + G -1 HB 2 ê 2ú imprecision and uncertainty inherent to perception
R R × Ra
êë r úû êë E3 úû sensors for azimuth. The imprecision is made by sensor
2 noise and aliasing. The uncertainty consists of
Where, G = æç I + HBB T n J 0 ö÷ disturbance and slip of mobile robot. As we can see in Fig.
ç R2 ÷
è ø 2, they are solved by using fuzzy logic inference which
can be used straightforward to perform the control of the
3 Tracking Control and Fuzzy Estimator mobile robot by means of the fuzzy behavior-based
This section represents accurate trajectory control scheme already existent in literature. The new
method of 3-wheels omni-directional mobile robot using enhancement azimuth is derived as equation (9).
fuzzy azimuth estimator. The OWMR of this paper has
three omni-directional wheels, arranged 120 deg apart. y d¢ (k + 1) = y d (k + 1) + K FG (y d (k ) -y gyro (k )) (9)
Each wheel is driven by a DC motor installed with an
optical shaft encoder. A gyro sensor is used for the y d (k ) is the kth azimuth angle computed from
perception of azimuth. It is controlled by independent
trajectory planning, y gyro (k ) is the kth output of gyro
PID law for each motor to follow the speed command
from inverse kinematics without considering the coupled sensor and y d¢ (k + 1) is new value of the (k+1)th
nonlinear dynamics explicitly in the controller design. azimuth. Its gain KFG is in real-time tuned by fuzzy
The controller structure using fuzzy azimuth estimator is azimuth tuner of Fig. 3.
shown in the Fig. 2.
Table 1. Fuzzy Rule Base measurement of the rotation speed of DC motors and
Gyro sensor measures the posture angle of OWMR.
Change Rate y ge&
of Error NE ZE PE
NE PB PS NS
y ee& ZE PS ZE NS
PE PS NS NB
The results of tracking control with self-rotation are [2] T.A. Baede, Motion control of an omni directional
shown in the Fig. 9. The precise movement control with mobile robot, Traineeship report DCT 2006, 2006.
self-rotation guarantees the holonomic characteristics of [3] Y. Liu, X. Wu, J. Zhu and J. Lew, Omni-directional
OWMR. Through the below results, we can confirm the mobile robot controller design by trajectory
good performance of a holonomic system. linearization, in: Proceedings of the American
Control Conference, vol. 4, 2003, pp. 3423-3428
[4] Y. Liu, J.J. Zhu, R.L. Williams and J. Wu,
Omni-directional mobile robot controller based on
trajectory lineariztion, Robotics and Autonomous
Systems, vol. 56, 2008, pp. 461-479.
[5] T.K. Nagy, P. Ganguly and R. D'Andrea, Real-time
trajectory generation for omnidirectional vehicles, in:
Proceedings of the American Control Conference, vol.
1, 2002, pp. 286-291.
a. Moving from front to right with self-rotation [6] K. Watanabe, Control of an omnidirectional mobile
robot, in: Proceedings of 1998 Second International
Conference on Knowledge-Based Intelligent
Electronic Systems, vol. 1, 1998, pp. 51-60.
[7] K. Watanabe, Y. Shiraishi, S.G. Tzafestas and J.
Tang, Feedback Control of an Omnidirectional
Autonomous Platform for Mobile Service Robots,
Journal of Intelligent and Robotic System, vol.22, no.
3-4, 1998, pp. 315-330.
[8] J. Wu, Dynamic path planning of an
omni-directional robot in a dynamic environment,
b. Moving from back to left with self-rotation Ph.D. Dissertation, Ohio University, Athens, OH,
2005.
Fig. 9. The Tracking Control with Self-Rotation [9] R.P.A. van Heandel, Design of an omnidirectional
universal mobile platform, Internal report DCT 2005,
p. 117, 2005.
5 CONCLUSION
A holonomic mobile robot using 3 omni-directional
wheels is developed in this paper. Its tracking controller,
which each motor is, on the base of posture, controlled by
an individual PID law to follow the speed command from
inverse kinematics without considering the coupled
nonlinear dynamics explicitly in the controller design,
and fuzzy azimuth estimator, which is used
straightforward to perform the control of the mobile robot
by means of the fuzzy behavior-based scheme already
existent in literature, are presented in this paper. Also, the
good performance of the developed mobile robot is
confirmed through live tests of path control task.
References:
[1] A. Ashmore and N. Barnes, Omni-drive Robot
Motion on Curved Paths: The Fastest Path between
Two Points Is Not a Straight-Line, AI 2002:
Advances in Artificial Intelligence, vol. 2557, 2002,
pp. 225-236.