Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution

This paper presents a nonlinear, universal, path-following controller for Wheeled Mobile Robots (WMRs). This approach, unlike previous algorithms, solves the path-following problem for all common categories of holonomic and nonholonomic WMRs, such as omnidirectional, unicycle, car-like, and all stee...

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Autores principales:	Reza Oftadeh, Reza Ghabcheloo, Jouni Mattila
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	wheeled mobile robots path-following nonholonomic constraints Chemical technology TP1-1185
Acceso en línea:	https://doaj.org/article/e29687aa47ae41f6a43b5db80e95fc71
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spelling	oai:doaj.org-article:e29687aa47ae41f6a43b5db80e95fc712021-11-25T18:58:08ZUniversal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution10.3390/s212276421424-8220https://doaj.org/article/e29687aa47ae41f6a43b5db80e95fc712021-11-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/22/7642https://doaj.org/toc/1424-8220This paper presents a nonlinear, universal, path-following controller for Wheeled Mobile Robots (WMRs). This approach, unlike previous algorithms, solves the path-following problem for all common categories of holonomic and nonholonomic WMRs, such as omnidirectional, unicycle, car-like, and all steerable wheels. This generality is the consequence of a two-stage solution that tackles separately the platform path-following and wheels’ kinematic constraints. In the first stage, for a mobile platform divested of the wheels’ constraints, we develop a general paradigm of a path-following controller that plans asymptotic paths from the WMR to the desired path and, accordingly, we derive a realization of the presented paradigm. The second stage accounts for the kinematic constraints imposed by the wheels. In this stage, we demonstrate that the designed controller simplifies the otherwise impenetrable wheels’ kinematic and nonholonomic constraints into explicit proportional functions between the velocity of the platform and that of the wheels. This result enables us to derive a closed-form trajectory generation scheme for the asymptotic path that constantly keeps the wheels’ steering and driving velocities within their corresponding, pre-specified bounds. Extensive experimental results on several types of WMRs, along with simulation results for the other types, are provided to demonstrate the performance and the efficacy of the method.Reza OftadehReza GhabchelooJouni MattilaMDPI AGarticlewheeled mobile robotspath-followingnonholonomic constraintsChemical technologyTP1-1185ENSensors, Vol 21, Iss 7642, p 7642 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	wheeled mobile robots path-following nonholonomic constraints Chemical technology TP1-1185
spellingShingle	wheeled mobile robots path-following nonholonomic constraints Chemical technology TP1-1185 Reza Oftadeh Reza Ghabcheloo Jouni Mattila Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution
description	This paper presents a nonlinear, universal, path-following controller for Wheeled Mobile Robots (WMRs). This approach, unlike previous algorithms, solves the path-following problem for all common categories of holonomic and nonholonomic WMRs, such as omnidirectional, unicycle, car-like, and all steerable wheels. This generality is the consequence of a two-stage solution that tackles separately the platform path-following and wheels’ kinematic constraints. In the first stage, for a mobile platform divested of the wheels’ constraints, we develop a general paradigm of a path-following controller that plans asymptotic paths from the WMR to the desired path and, accordingly, we derive a realization of the presented paradigm. The second stage accounts for the kinematic constraints imposed by the wheels. In this stage, we demonstrate that the designed controller simplifies the otherwise impenetrable wheels’ kinematic and nonholonomic constraints into explicit proportional functions between the velocity of the platform and that of the wheels. This result enables us to derive a closed-form trajectory generation scheme for the asymptotic path that constantly keeps the wheels’ steering and driving velocities within their corresponding, pre-specified bounds. Extensive experimental results on several types of WMRs, along with simulation results for the other types, are provided to demonstrate the performance and the efficacy of the method.
format	article
author	Reza Oftadeh Reza Ghabcheloo Jouni Mattila
author_facet	Reza Oftadeh Reza Ghabcheloo Jouni Mattila
author_sort	Reza Oftadeh
title	Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution
title_short	Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution
title_full	Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution
title_fullStr	Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution
title_full_unstemmed	Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution
title_sort	universal path-following of wheeled mobile robots: a closed-form bounded velocity solution
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/e29687aa47ae41f6a43b5db80e95fc71
work_keys_str_mv	AT rezaoftadeh universalpathfollowingofwheeledmobilerobotsaclosedformboundedvelocitysolution AT rezaghabcheloo universalpathfollowingofwheeledmobilerobotsaclosedformboundedvelocitysolution AT jounimattila universalpathfollowingofwheeledmobilerobotsaclosedformboundedvelocitysolution
_version_	1718410497179516928

Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution

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