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《机械工程前沿(英文)》 2023年 第18卷 第3期 doi: 10.1007/s11465-023-0753-3
关键词: four-wheeled mobile robot obstacle-circumventing adaptive control adaptive anti-disturbance terminal sliding mode control sub-target dynamic tracking regression obstacle avoidance
Towards neutral steer and sideslip reduction for four-wheeled electric vehicles
Guisheng ZHAI, Masayuki NAKA, Tomoaki KOBAYASHI, Joe IMAE
《机械工程前沿(英文)》 2012年 第7卷 第1期 页码 16-22 doi: 10.1007/s11465-012-0316-5
This paper proposes an approach to achieving both neutral steer and sideslip reduction for four-wheeled electric vehicles. The control problem is reduced to constructing a servo system tracking appropriate reference input, where the tracking is realized in the framework of ?∞ control. To deal with time-varying vehicle velocity for practical purpose, a gain scheduling strategy is developed to obtain the controller, where the lower and upper bounds of the velocity are used to obtain a polytopic range for the parameters in the system coefficient matrices. A numerical example is given to show validity of the proposed approach.
关键词: four-wheeled electric vehicles neutral steer sideslip reduction servo system ?∞ control&sortBy=weightDesc"> ?∞ control')" href="#">?∞ control gain scheduling linear matrix inequality (LMI)
Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking
Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA
《信息与电子工程前沿(英文)》 2015年 第16卷 第2期 页码 166-172 doi: 10.1631/FITEE.1400183
关键词: Robot modeling Robot navigation Slip and skid control Wheeled mobile robots
Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG
《机械工程前沿(英文)》 2021年 第16卷 第3期 页码 504-527 doi: 10.1007/s11465-020-0626-y
关键词: mobile robot multiple maneuvering mode motion planning tracking control receding horizon control
An autonomous miniature wheeled robot based on visual feedback control
CHEN Haichu
《机械工程前沿(英文)》 2007年 第2卷 第2期 页码 197-200 doi: 10.1007/s11465-007-0033-7
关键词: measuring distance autonomous locomotion advantage navigation
Landing control method of a lightweight four-legged landing and walking robot
《机械工程前沿(英文)》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0707-1
关键词: landing and walking robot lunar exploration buffer landing compliance control
A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm
Prases K. MOHANTY,Dayal R. PARHI
《机械工程前沿(英文)》 2014年 第9卷 第4期 页码 317-330 doi: 10.1007/s11465-014-0304-z
Planning of the shortest/optimal route is essential for efficient operation of autonomous mobile robot or vehicle. In this paper Invasive Weed Optimization (IWO), a new meta-heuristic algorithm, has been implemented for solving the path planning problem of mobile robot in partially or totally unknown environments. This meta-heuristic optimization is based on the colonizing property of weeds. First we have framed an objective function that satisfied the conditions of obstacle avoidance and target seeking behavior of robot in partially or completely unknown environments. Depending upon the value of objective function of each weed in colony, the robot avoids obstacles and proceeds towards destination. The optimal trajectory is generated with this navigational algorithm when robot reaches its destination. The effectiveness, feasibility, and robustness of the proposed algorithm has been demonstrated through series of simulation and experimental results. Finally, it has been found that the developed path planning algorithm can be effectively applied to any kinds of complex situation.
关键词: mobile robot obstacle avoidance Invasive Weed Optimization navigation
Training for smart manufacturing using a mobile robot-based production line
Shuting WANG, Liquan JIANG, Jie MENG, Yuanlong XIE, Han DING
《机械工程前沿(英文)》 2021年 第16卷 第2期 页码 249-270 doi: 10.1007/s11465-020-0625-z
关键词: smart manufacturing hands-on experience engineering education mobile robot-based production line
Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration
《机械工程前沿(英文)》 2022年 第17卷 第1期 页码 8-8 doi: 10.1007/s11465-021-0664-0
关键词: leg–arm integration hexapod robot fixed coordinated manipulation mobile manipulation
Real-time mobile robot teleoperation via Internet based on predictive control
WANG Shihua, XU Bugong, WANG Shihua, ZHOU Yeming, LIU YunHui
《机械工程前沿(英文)》 2008年 第3卷 第3期 页码 299-306 doi: 10.1007/s11465-008-0049-7
关键词: predictive feedback virtual predictive distance synchronization algorithm
《机械工程前沿(英文)》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0741-z
关键词: steam generator transfer tubes mobile robot dexterous structure task planning efficient inspection
刘华军,杨静宇,陆建峰,唐振民,赵春霞,成伟明
《中国工程科学》 2006年 第8卷 第1期 页码 85-94
机器人运动规划是移动机器人导航的核心技术之一。40多年来,运动规划技术发展迅速,涌现出了许多规划算法,但因为环境描述方式差异巨大,技术差别大,实验比较难度较大。在总结机器人发展史上具有典型意义的规划算法的基础上,提出了路径规划算法的评价标准和形式化描述方式,介绍了每种算法的原理或技术,从搜索策略和环境建模的角度将它们分为四大类,分别是基于自由空间几何构造的规划算法、前向图搜索算法、基于随机采样的运动规划算法以及智能化规划算法,并按照提出的标准比较它们的性能。
M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY
《机械工程前沿(英文)》 2012年 第7卷 第1期 页码 23-28 doi: 10.1007/s11465-012-0304-9
This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by considering nonlinear dynamic model and nonholonomic constraints of the system. The nonholonomic constraints of the system are introduced by a nonintegrable set of differential equations which represent kinematic restriction on the motion. The Lagrange’s principle is employed to derive the nonlinear equations of the system. Then, the optimal path planning of the mobile robot is formulated as an optimal control problem. To set up the problem, the nonlinear equations of the system are assumed as constraints, and a minimum energy objective function is defined. To solve the problem, an indirect solution of the optimal control method is employed, and conditions of the optimality derived as a set of coupled nonlinear differential equations. The optimality equations are solved numerically, and various simulations are performed for a nonholonomic mobile robot to illustrate effectiveness of the proposed method.
关键词: mobile robot trajectory planning nonlinear dynamic optimal control
A novel six-legged walking machine tool for
Jimu LIU, Yuan TIAN, Feng GAO
《机械工程前沿(英文)》 2020年 第15卷 第3期 页码 351-364 doi: 10.1007/s11465-020-0594-2
关键词: legged robot parallel mechanism mobile machine tool in-situ machining
标题 作者 时间 类型 操作
Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties
期刊论文
Towards neutral steer and sideslip reduction for four-wheeled electric vehicles
Guisheng ZHAI, Masayuki NAKA, Tomoaki KOBAYASHI, Joe IMAE
期刊论文
Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking
Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA
期刊论文
Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple
Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG
期刊论文
A new efficient optimal path planner for mobile robot based on Invasive Weed Optimization algorithm
Prases K. MOHANTY,Dayal R. PARHI
期刊论文
Training for smart manufacturing using a mobile robot-based production line
Shuting WANG, Liquan JIANG, Jie MENG, Yuanlong XIE, Han DING
期刊论文
Different manipulation mode analysis of a radial symmetrical hexapod robot with leg–arm integration
期刊论文
Real-time mobile robot teleoperation via Internet based on predictive control
WANG Shihua, XU Bugong, WANG Shihua, ZHOU Yeming, LIU YunHui
期刊论文
High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in
期刊论文
Trajectory planning of mobile robots using indirect solution of optimal control method in generalized
M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY
期刊论文