Robust tracking of trajectories for one mobile robot (dynamic simulations)

Full paper:

This is a supplemental video for:
Mauro Baquero-Suárez, Ignacio Mas, Juan Giribet. Robust tracking control for non-holonomic wheeled mobile robots and its application in some navigating formations under cluster space approach.

Abstract:
In this work, the kinematics and dynamics of differential wheeled mobile robots is analyzed to define a reasonable mathematical model that captures its behavior when in motion. Then, a robust two-stage controller in cascade is proposed to govern its dynamics by controlling the angular velocity of both lateral wheels in first stage, and the tracking of trajectories in the second one. Additionally, some navigating formations are arranged with these vehicles, where cluster space approach is used to easily generate precise arbitrary reference trajectories for these multirobot systems. Specifically, a simple set of equations was defined by means of cluster space methodology to represent the kinematics of 3-robot, 5-robot and 7-robot formations, and operations with these representations allowed to generate the reference trajectories for mobile robots of each formation, whose tracking is achieved by the designed two-stage controller, with an adequate robustness and performance. Successful results were obtained in developed virtual dynamic models on MSC Adams software to validate this control system application, where multibody systems of the mobile robots are manipulated through simulations that cooperatively use MATLAB software with the cluster specifications and two-stage controllers programmed on it.

Mobile robots,Robot teams,Cluster space,Robust control,Lyapunov redesign,Multirobot systems,Non-linear dynamics,Multibody systems modeling,