Experimental studies and modeling of four-wheeled mobile robot motion taking into account wheel slippage

• Autorzy: Jaskot Anna , Posiadała Bogdan

Identyfikatory

DOI

10.24425/bpasts.2021.139205

• Języki publikacji: EN

Abstrakty

EN

In the article the results of simulation and experimental studies of the movement of a four-wheeled mobile platform, taking into account wheel slip have been presented. The simulation results have been based on the dynamics of the four-wheel mobile platform. The dynamic model of the system motion takes into account the relationship between the active and passive forces accompanying the platform motion, especially during wheel slip. The formulated initial problem describing the motion of the system has been solved by the Runge-Kutta method of the fourth order. The proposed computational model including the platform dynamics model has been verified in experimental studies using the LEO Rover robot. The motion parameters obtained on the basis of the adopted computational model in the form of trajectories, velocities and accelerations have been compared with the results of experimental tests, and the results of this comparison have been included in the paper. The proposed computational model can be useful in various situations, e.g., real-time control, where models with a high degree of complexity are useless due to the computation time. The simulation results obtained on the basis of the proposed model are sufficiently compatible with the results of experimental tests of motion parameters obtained for the selected type of mobile robot.

Słowa kluczowe

EN

motion dynamics; wheel slippage; wheeled mobile platform; equations of motion

PL

dynamika ruchu; poślizg kół; kołowa platforma mobilna; równania ruchu

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2021
• Tom: Vol. 69, nr 6
• Strony: art. no. e139205
• Opis fizyczny: Bibliogr. 18 poz., il., wykr., tab.

Twórcy

autor

Jaskot Anna

• Czestochowa University of Technology, Faculty of Civil Engineering, ul. Akademicka 3, 42-201 Częstochowa, Poland

autor

Posiadała Bogdan

• Czestochowa University of Technology, Faculty of Mechanical Engineering and Computer Science, ul. Dąbrowskiego 73, 42-201 Częstochowa, Poland

Bibliografia

• [1] A. Jaskot, “Modelowanie i analiza ruchu platform mobilnych z uwzgl˛ednieniem po´slizgu,” Ph.D. dissertation, Czestochowa University of Technology, 2021.
• [2] Z. Lozia, “Modele symulacyjne ruchu i dynamiki dwóch pojazdów uprzywilejowanych,” Czasopismo Techniczne Mechanika, vol. Z.8, pp. 19-34, 2012.
• [3] S. Aguilera-Marinovic, M. Torres-Torriti, and F. Auat-Cheein, “General dynamic model for skid-steer mobile manipulators with wheel – ground interactions,” IEEE/ASME Transactions on Mechatronics, vol. 22, no. 1, pp. 433–444, Feb. 2017, doi: 10.1109/tmech.2016.2601308.
• [4] A. Mandow et al., “Experimental kinematics for wheeled skidsteer mobile robots,” in 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Oct. 2007, doi: 10.1109/iros.2007.4399139.
• [5] D. Pazderski, “Waypoint following for differentially driven wheeled robots with limited velocity perturbations,” Journal of Intelligent & Robotic Systems, vol. 85, no. 3‒4, pp. 553–575, Jun. 2016, doi: 10.1007/s10846-016-0391-7.
• [6] Y. Abdelgabar, J. Lee, and S. Okamoto, “Motion control of a three active wheeled mobile robot and collision-free human following navigation in outdoor environment,” Proc. Int. Multi-Conf. Eng. Comput. Sci., vol. 1, p. 4, 2016.
• [7] L. Xin, Q. Wang, J. She, and Y. Li, “Robust adaptive tracking control of wheeled mobile robot,” Rob. Auton. Syst., vol. 78, pp. 36–48, 2016, doi: 10.1016/j.robot.2016.01.002.
• [8] W. Kowalczyk and K. Kozłowski, “Trajectory tracking and collision avoidance for the formation of two-wheeled mobile robots,” Bull. Pol. Acad. Sci. Tech. Sci., vol. 67, no. 5, pp. 915–924, 2019, doi: 10.24425/bpas.2019.128652.
• [9] X. Feng and C.Wang, “Robust Adaptive Terminal Sliding Mode Control of an Omnidirectional Mobile Robot for Aircraft Skin Inspection,” Int. J. Control Autom. Syst., vol. 19, no. 2, pp. 1078–1088, 2021, doi: 10.1007/s12555-020-0026-4.
• [10] M. Nitulescu, “Solutions for Modeling and Control in Mobile Robotics,” J. Control Eng. Appl. Inf., vol. 9, no. 3;4, pp. 43–50, 2007.
• [11] D. Cekus, R. Gnatowska, and P. Kwiatoń, “Impact of Wind on the Movement of the Load Carried by Rotary Crane,” Appl. Sci., vol. 9, no. 19, p. 22, 2019, doi: 10.3390/app9183842.
• [12] A. Jaskot, B. Posiadała, and S. Śpiewak, “Dynamics Modelling of the Four-Wheeled Mobile Platform,” Mech. Res. Commun., vol. 83, pp. 58–64, 2017, doi: 10.1016/j.mechrescom. 2017.05.007.
• [13] A. Jaskot, B. Posiadała, and S. Śpiewak, “Dynamics Model of the Mobile Platform for its Various Configurations,” Procedia Eng., vol. 177, pp. 162–167, 2017, doi: 10.1016/j.proeng.2017.02.211.
• [14] A. Jaskot and B. Posiadała, “Dynamics of the mobile platform with four wheel drive,” MATEC Web of Conferences, vol. 254,p. 8, 2019, doi: 10.1051/matecconf/201925403006.
• [15] N. Sarkar, X. Yun, and V. Kumar, “Control of Mechanical Systems With Rolling Constraints: Application to Dynamic Control of Mobile Robots,” Int. J. Rob. Res., vol. 13, no. 1, pp. 55–69, 1994, doi: 10.1177/027836499401300104.
• [16] M. Eghtesad and D. Necsulescu, “Study of the internal dynamics of an autonomous mobile robot,” Rob. Auton. Syst., vol. 54, no. 4, pp. 342–349, 2006, doi: 10.1016/j.robot.2006.01.001.
• [17] “Technical specification.” [Online]. Available: http://pl.kwapil.com/downloads/maxon-ec-motor.pdf (Accessed 2017-07-24).
• [18] “Leo rover specification.” [Online]. Available: https://www.leorover.tech/the-rover (Accessed 2021-04-21).