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Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 2,   Pages 166-172 doi: 10.1631/FITEE.1400183

Abstract: problem subjected to wheel slippage and skid and solves it using a logic-based control scheme for a wheeledmobile robot (WMR).

Keywords： Robot modeling     Robot navigation     Slip and skid control     Wheeled mobile robots    

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Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0753-3

Abstract: To achieve the collision-free trajectory tracking of the four-wheeled mobile robot (FMR), existing methodsGuaranteeing the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties

Keywords： four-wheeled mobile robot     obstacle-circumventing adaptive control     adaptive anti-disturbance terminal    

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High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0741-z

Abstract: tubes are distributed on the tube plates of a steam generator that requires periodic inspection by robotsExisting inspection robots are usually involved in issues: Robots with manipulators need complicatedinstallation due to their fixed base; tube mobile robots suffer from low running efficiency because ofMost in-service robots check the task tubes using row-by-row and column-by-column planning.

Keywords： steam generator transfer tubes     mobile robot     dexterous structure     task planning     efficient inspection    

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Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 1,   Pages 23-28 doi: 10.1007/s11465-012-0304-9

Abstract:

This paper presents an optimal control strategy for optimal trajectory planning of mobile robots byThen, the optimal path planning of the mobile robot is formulated as an optimal control problem.optimality equations are solved numerically, and various simulations are performed for a nonholonomic mobile

Keywords： mobile robot     trajectory planning     nonlinear dynamic     optimal control    

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An improved immunity path planning algorithm for mobile robots based on the guidance weight of artificial

Wang Sunan,Wu Canyang

Strategic Study of CAE 2013, Volume 15, Issue 1,   Pages 73-78

Abstract:

To solve the path planning problem of mobile robots in complicated environments, combining the

Keywords： immune network     artificial potential field     mobile robots     path planning    

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The Shortest Path for Mobile Robots in Obstacle Avoidance

Guo Ge

Strategic Study of CAE 2003, Volume 5, Issue 5,   Pages 70-75

Abstract:

An obstacle avoidance strategy for mobile robot is presented based on obstacle position and size informationobstacle avoidance are discussed in detail, which leads to the final important result of optimal path for mobile

Keywords： mobile robot     ultrasonic sensor     obstacle avoidance     path planning     optimal path    

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An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 2,   Pages 197-200 doi: 10.1007/s11465-007-0033-7

Abstract: Using two micro-motors, a novel omni-direction miniature wheeled robot is designed on the basis of the

Keywords： measuring     distance     autonomous locomotion     advantage     navigation    

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Towards neutral steer and sideslip reduction for four-wheeled electric vehicles

Guisheng ZHAI, Masayuki NAKA, Tomoaki KOBAYASHI, Joe IMAE

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 1,   Pages 16-22 doi: 10.1007/s11465-012-0316-5

Abstract:

This paper proposes an approach to achieving both neutral steer and sideslip reduction for four-wheeled

Keywords： four-wheeled electric vehicles     neutral steer     sideslip reduction     servo system     ?    

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Research on Mobile Robots Motion Planning: A Survey

Liu Huajun,Yang Jingyu,Lu Jianfeng,Tang Zhenmin,Zhao Chunxia,Cheng Weiming

Strategic Study of CAE 2006, Volume 8, Issue 1,   Pages 85-94

Abstract:

Mobile robots motion planning is one of the key technologies in the robot navigation.During the past 40 years of mobile robot development, lots of planning algorithms were proposed.The paper compared and summarized their performance and gave an outlook to the future research of the mobilerobots motion planning.

Keywords： mobile robot     motion planning     robot navigation     geometry construction     heuristic search     random sampling    

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A novel motion coordination method for variable-sized multi-mobile robots Research Article

Zichao XING, Xingkai WANG, Shuo WANG, Weimin WU, Ruifen HU,zcxing@zju.edu.cn,wmwu@iipc.zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2023, Volume 24, Issue 4,   Pages 521-535 doi: 10.1631/FITEE.2200160

Abstract: However, in some scenarios, robot sizes are different when loaded and unloaded, which means that the robotsThe zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reducedynamically avoid collisions and deadlocks according to the roadmap structure and the real-time paths of robots

Keywords： Multi-mobile robot system     Collision avoidance     Deadlock avoidance     Glued nodes     Motion coordination    

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Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 3, doi: 10.1007/s11465-023-0756-0

Abstract: In-situ maintenance is of great significance for improving the efficiency and ensuring the safety of aero-engines. The cable-driven continuum robot (CDCR) with twin-pivot compliant mechanisms, which is enabled with flexible deformation capability and confined space accessibility, has emerged as a novel tool that aims to promote the development of intelligence and efficiency for in-situ aero-engine maintenance. The high-fidelity model that describes the kinematic and morphology of CDCR lays the foundation for the accurate operation and control for in-situ maintenance. However, this model was not well addressed in previous literature. In this study, a general kinetostatic modeling and morphology characterization methodology that comprehensively contains the effects of cable-hole friction, gravity, and payloads is proposed for the CDCR with twin-pivot compliant mechanisms. First, a novel cable-hole friction model with the variable friction coefficient and adaptive friction direction criterion is proposed through structure optimization and kinematic parameter analysis. Second, the cable-hole friction, all-component gravities, deflection-induced center-of-gravity shift of compliant joints, and payloads are all considered to deduce a comprehensive kinetostatic model enabled with the capacity of accurate morphology characterization for CDCR. Finally, a compact continuum robot system is integrated to experimentally validate the proposed kinetostatic model and the concept of in-situ aero-engine maintenance. Results indicate that the proposed model precisely predicts the morphology of CDCR and outperforms conventional models. The compact continuum robot system could be considered a novel solution to perform in-situ maintenance tasks of aero-engines in an invasive manner.

Keywords： kinetostatic modeling     morphology characterization     variable friction     continuum robots     in-situ   

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Research and practice on system engineering management of a mobile payment project

Yongkai ZHOU, Hongfeng CHAI

Frontiers of Engineering Management 2017, Volume 4, Issue 2,   Pages 127-137 doi: 10.15302/J-FEM-2017011

Abstract: The popularization of the mobile internet has given rise to demand for flexible and convenient paymentit is necessary to keep pace with or even lead the trend of innovation and development in the age of mobileperspective of systems engineering, this paper introduces research and implementation of China UnionPay’s mobileThe general requirements and core engineering problems of the mobile payment project are summarized basedThe launch of the mobile payment project also opens the window to coordinating and upgrading the whole

Keywords： systems engineering     mobile payment     engineering management method     Mobile QuickPass     national information    

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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 204-212 doi: 10.1007/s11465-016-0380-3

Abstract: a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots

Keywords： industrial robot     nonlinear control     vibration damping     model-free control     motion control    

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Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future

Bing XU, Min CHENG

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 2,   Pages 151-166 doi: 10.1007/s11465-018-0470-5

Abstract: upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobileHydraulic systems have been extensively used in mobile machineries due to their superior power densityThen, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated

Keywords： motion control     electrohydraulic control     energy efficiency     mobile machineries    

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Footholds optimization for legged robots walking on complex terrain

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0742-y

Abstract: This paper proposes a novel continuous footholds optimization method for legged robots to expand their

Keywords： footholds optimization     legged robot     complex terrain adapting     hexapod robot     locomotion control    

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Title Author Date Type Operation

Longitudinal and lateral slip control of autonomous wheeled mobile robot for trajectory tracking

Hamza KHAN,Jamshed IQBAL,Khelifa BAIZID,Teresa ZIELINSKA

Journal Article

Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

Journal Article

High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

Journal Article

Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

Journal Article

An improved immunity path planning algorithm for mobile robots based on the guidance weight of artificial

Wang Sunan,Wu Canyang

Journal Article

The Shortest Path for Mobile Robots in Obstacle Avoidance

Guo Ge

Journal Article

An autonomous miniature wheeled robot based on visual feedback control

CHEN Haichu

Journal Article

Towards neutral steer and sideslip reduction for four-wheeled electric vehicles

Guisheng ZHAI, Masayuki NAKA, Tomoaki KOBAYASHI, Joe IMAE

Journal Article

Research on Mobile Robots Motion Planning: A Survey

Liu Huajun,Yang Jingyu,Lu Jianfeng,Tang Zhenmin,Zhao Chunxia,Cheng Weiming

Journal Article

A novel motion coordination method for variable-sized multi-mobile robots

Zichao XING, Xingkai WANG, Shuo WANG, Weimin WU, Ruifen HU,zcxing@zju.edu.cn,wmwu@iipc.zju.edu.cn

Journal Article

Comprehensive kinetostatic modeling and morphology characterization of cable-driven continuum robots

Journal Article

Research and practice on system engineering management of a mobile payment project

Yongkai ZHOU, Hongfeng CHAI

Journal Article

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Journal Article

Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future

Bing XU, Min CHENG

Journal Article

Footholds optimization for legged robots walking on complex terrain

Journal Article