Minimum-Time Trajectory Planning for a Differential Drive Mobile Robot Considering Non-slipping Constraints
Sign Up to like & getrecommendations! Published in 2020 at "Journal of Control, Automation and Electrical Systems"
DOI: 10.1007/s40313-020-00657-x
Abstract: We propose a real-time minimum-time trajectory planning strategy with obstacle avoidance for a differential-drive mobile robot in the context of robot soccer. The method considers constraints important to maximize the system’s performance, such as the… read more here.
Keywords: trajectory planning; time; robot; time trajectory ... See more keywords
Design of Kinematic Controller Based on Parameter Tuning by Fuzzy Inference System for Trajectory Tracking of Differential-Drive Mobile Robot
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Fuzzy Systems"
DOI: 10.1007/s40815-020-00842-9
Abstract: This paper proposes a new kinematic controller (KC) when designing an autonomous mobile robot with type of differential-drive model in trajectory tracking control. The KC is responsible for creating the reference values of velocities transmitted… read more here.
Keywords: kinematic controller; drive; differential drive; mobile robot ... See more keywords
Sliding Mode Variable Structure Based Path Following Control of Agricultural Robots with Differential Drive
Sign Up to like & getrecommendations! Published in 2018 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2018.08.173
Abstract: Abstract It is difficult to establish the precise mathematical model of agricultural wheeled robots with differential drive for path tracking control, due to characteristics of nonlinear, strong coupling and multivariable. Here, path tracking control is… read more here.
Keywords: sliding mode; control; mode variable; drive ... See more keywords
Real-time motion planning and decision-making for a group of differential drive robots under connectivity constraints using robust MPC and mixed-integer programming
Sign Up to like & getrecommendations! Published in 2022 at "Advanced Robotics"
DOI: 10.1080/01691864.2022.2117997
Abstract: This work is concerned with the problem of planning trajectories and assigning tasks for a Multi-Agent System (MAS) comprised of differential drive robots. We propose a multirate hierarchical control structure that employs a planner based… read more here.
Keywords: drive robots; mpc mixed; differential drive; mixed integer ... See more keywords
LiDAR Based Trajectory-Tracking of an Autonomous Differential Drive Mobile Robot Using Fuzzy Sliding Mode Controller
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3162244
Abstract: This study aims to achieve the trajectory-tracking of an autonomous differential drive mobile robot (ADDMR) in the presence of friction torques using the proposed fuzzy sliding-mode control (FSMC). First, the complete model of the ADDMR… read more here.
Keywords: drive mobile; differential drive; trajectory tracking; tracking autonomous ... See more keywords
Capturing a Dubins Car With a Differential Drive Robot
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3196342
Abstract: In this paper, we study the problem of capturing a Dubins Car with a Differential Drive Robot in minimum time. The two vehicles are represented like unitary discs moving in the plane without obstacles. Both… read more here.
Keywords: car; dubins car; differential drive; drive robot ... See more keywords
NFOMP: Neural Field for Optimal Motion Planner of Differential Drive Robots With Nonholonomic Constraints
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3196886
Abstract: Optimal motion planning is one of the most critical problems in mobile robotics. On the one hand, classical sampling-based methods propose asymptotically optimal solutions to this problem. However, these planners cannot achieve smooth and short… read more here.
Keywords: based methods; optimal motion; optimization; differential drive ... See more keywords
Robust Tube-Based Predictive Control for Visual Servoing of Constrained Differential-Drive Mobile Robots
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2017.2756595
Abstract: This paper proposes a control strategy for the vision-based control problem of a nonholonomic constrained differential-drive mobile robots with bounded disturbance by using robust tube-based model predictive control (MPC) method. The proposed control strategy mainly… read more here.
Keywords: state; constrained differential; control; differential drive ... See more keywords
Codesign of Differential-Drive CMOS Rectifier and Inductively Coupled Antenna for RF Harvesting
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Transactions on Microwave Theory and Techniques"
DOI: 10.1109/tmtt.2019.2936560
Abstract: An effective codesign approach for harvesting systems is described in this article, which is based on a CMOS differential-drive rectifier and an inductively coupled loop (ICL) antenna. The proposed approach acts on both the rectifier… read more here.
Keywords: tex math; inductively coupled; differential drive; inline formula ... See more keywords
Realization Energy Optimization of Complete Path Planning in Differential Drive Based Self-Reconfigurable Floor Cleaning Robot
Sign Up to like & getrecommendations! Published in 2019 at "Energies"
DOI: 10.3390/en12061136
Abstract: The efficiency of energy usage applied to robots that implement autonomous duties such as floor cleaning depends crucially on the adopted path planning strategies. Energy-aware for complete coverage path planning (CCPP) in the reconfigurable robots… read more here.
Keywords: differential drive; path planning; floor cleaning; energy ... See more keywords
Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing Application
Sign Up to like & getrecommendations! Published in 2017 at "Robotics"
DOI: 10.3390/robotics6030017
Abstract: This paper proposes a method for trajectory planning and control of a mobile robot for application in picture drawing from images. The robot is an accurate differential drive mobile robot platform controlled by a field-programmable-gate-array… read more here.
Keywords: control; trajectory planning; differential drive; mobile robot ... See more keywords