Advance Modeling of a Skid-Steering Mobile Robot for Remote ...

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Bibliography[1] G. Oriolo, A. De Luca, and M. Vendittelli, “Wmr control via dynamic feedback linearization: Design,implementation, and experimental validation,” IEEE Transactions Contribution System Technology,pp. 835–852, 2002.[2] W. Khalil and E. Dombre, Modelling, Identification and Control of Robots. Kogan Page Science, 2002.[3] C. Canudas, B. Siciliano, and G. Bastin, Theory of Robot Control. Springer, 1996.[4] J. Yi, D. Song, J. Zhang, and Z. Goodwin, “Adaptive trajectory tracking control of skid-steered mobilerobots,” 2007 IEEE International Conference on Robotics and Automation, pp. 2605–2610, 2007.[5] J. Yi, D. Song, S. Jayasuriya, H. Wang, J. Zhang, and J. Liu, “Kinematic modeling and analysis of skidsteeredmobile robots with applications to low-cost inertial-measurement-unit-based motion estimation,”IEEE Transactions on Robotics, pp. 1087–1097, 2009.[6] M. Minsky, “Telepresence,” Omni magazine, 1980.[7] W. Burgard, T. Panos, D. Hahnel, M. Moors, D. Schulz, H. Baltzakis, and A. Argyros, “Telepresence inpopulated exhibitions through web-operated mobile robots,” Mercury, 2006.[8] MobileRobots, Pioneer 3-AT. http://www.mobilerobots.com/Libraries/Downloads/Pioneer3AT-P3AT-RevA.sflb.ashx.[9] P. Lauriano, “Intuitive control of a remote avatar using natural gestures,” Master’s thesis, Roger WilliamsUniversity, 2011.[10] L. Caracciolo, A. De Luca, and S. Iannitti, “Trajectory tracking control of a four-wheel differentiallydriven mobile robot,” EEE International Conference on Robotics and Automation, pp. 2632–2638, 1999.[11] K. Kozlowski and D. Pazderski, “Modeling and control of a 4-wheel skid-steering mobile robot: Fromtheory to practice,” Technology, 2008.[12] K. Kozlowski, D. Pazderski, and W. Dixon, “Tracking and regulation control of a skid steering vehicle,”ANS Tenth International Topical Meeting on Robotics and Remote Systems, pp. 369–376, 2004.
BIBLIOGRAPHY 135[13] VTI Technologies, SCA620-CF8H1A 1-AXIS ANALOG ACCELEROMETERS. http://www.muratamems.fi/sites/default/files/documents/sca620-cf8h1a_accelerometer_datasheet_82110200a.pdf.[14] Admet, eXpert 2600 Series Universal Testing Systems. http://admet.com/products/universal-testing-machines/expert-2600/.[15] M. Defoort, J. Palos, A. Kokosy, T. Floquet, and W. Perruquetti, “Performance based reactive navigationfor nonholonomic mobile robots,” 2009 IEEE International Conference on Robotics and Automation,pp. 281–290, 2009.[16] K. Weiss, “Skid-steering,” 1971.[17] H. Pacejka, Tire and Vehicle Dynamics. Oxford: Butterworth-Heinemann, 2002.[18] L. Sciavicco and B. Siciliano, Modelling and Control of Robot Manipulators. Springer, 2007.[19] B. Siciliano and O. Khatib, Handbook of Robotics. Springer, 2007.[20] M. Frigo and S. Johnson, “The design and implementation of fftw3,” Proceedings of the IEEE, pp. 216–231, 2005.[21] B. Vrande, D. Campen, and A. Kraker, “An approximate analysis of dry-friction-induced stick-slip vibrationsby a smoothing procedure,” Non Linear Dynamics, pp. 155–169, 1999.[22] B. Kuo and F. Golnaraghi, Automatic Control Systems. Wiley, 2009.
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Università degli Studi di GenovaRo
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IINothing great in the World has be
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CONTENTSIV6 Simulation 786.1 Simuli
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LIST OF FIGURESVII6.4 (a) Block sch
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List of Tables5.1 Table of the geom
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Introduction 2boDynamics, VGo Commu
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Introduction 4The robot employed, i
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Chapter 1Hardware and SoftwareIn th
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1.1 The Pioneer 3-AT Robot 8four ho
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1.2 The sensors 10control resolutio
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2.1 State of the Art 12not negligib
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2.1 State of the Art 14velocity vec
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2.1 State of the Art 16Figure 2.3:
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2.1 State of the Art 18Finally, by
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2.1 State of the Art 20constraint (
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2.1 State of the Art 22approximates
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2.2 Generalized Modeling 24⎡1 0¯
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2.2 Generalized Modeling 26V = [v T
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2.2 Generalized Modeling 28where T(
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2.2 Generalized Modeling 30⎡g R(J
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2.2 Generalized Modeling 32where we
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Chapter 3Experimental DataIn this c
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3.1 The accelerometer 36(a)(b)Figur
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3.2 Characterization of the Vibrati
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3.3 Characterization of the Tire Fo
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4.1 Tire Lateral Force 56Figure 4.1
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4.1 Tire Lateral Force 58velocity b
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4.1 Tire Lateral Force 600 ≤ µ i
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4.3 Tire Vertical Force 62f ix (t)
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Chapter 5Identification of the Robo
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5.1 Identification of the Geometric
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5.2 Identification of the Tire Dyna
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Chapter 6SimulationIn this chapter,
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6.1 Simulink Model 80On the right h
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6.1 Simulink Model 82Figure 6.3: Bl
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Page 96 and 97: 6.1 Simulink Model 86that v icx can
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Page 102 and 103: 6.2 Simulation Results 92hand side
Page 104 and 105: 6.2 Simulation Results 94(a)(b)Figu
Page 106 and 107: 6.2 Simulation Results 96• For λ
Page 108 and 109: AppendixesAppendix A1 %% Main progr
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Page 112 and 113: Appendixes 10224 Hd = design(h,filt
Page 114 and 115: Appendixes 1043031 % Filter the dat
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Page 130 and 131: Appendixes 120(a)(b)Figure 6.24: Pe
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