Control of Mobile Robots

Abstract: Control of Nonholonomic Mobile Robots. A new design method for non-time based tracking controller of mobile robots is presented. The new design method converts a controller designed by traditional time-based approaches to a non-time based controller using any given action reference. The stability condition of non-time based tracking controller is developed and theoretically proved. The analysis and design methods are exemplified by a mobile robot tracking control problem. The controller has been implemented and tested in a Nomadic XR4000 mobile robot. The experimental results demonstrate the advantages of proposed method. 

        Researchers: Ning Xi, Jindong Tan, Yu Sun, Amit Goradia

 

        Publication:

Jindong Tan, Ning Xi, "Unified Model Approach for Planning and Control of Mobile Manipulators," Proceedings of the IEEE International Conference on Robotics and Automation, Korea, May 2001

Jindong Tan, Ning Xi, "Integrated Sensing and Control of Mobile Manipulators," To Be presented on the IEEE/RSJ International Conference on Intelligent Robots and Systems, Hawaii, 2001 .

Weihua Sheng, Ning Xi, Jindong Tan, Mumin Song, Yifan Chen, James S. Rankin III, Perry MacNeille, "CAD-based Sensor Planning for Dimensional Inspection", Proceedings of 2000 Japan-USA Symposium on Flexible Automation, 2000.

Ning Xi, Weihua Sheng, Jindong Tan, Mumin Song, Yifan Chen, James S. Rankin III,"Robot Motion Control in Automated Automotive Part Inspections", Proceedings of the Third Asian Control Conference, 2000.

Jindong Tan, Ning Xi, "Hybrid System Design for Singularityless Task Level Robot Controllers", Proceedings of the IEEE International Conference on Robotics Automation, 3007-3012, April 2000.

Jindong Tan, Ning Xi, Wei Kang,"Non-time Based Tracking Controller for Mobile Robots", Proceedings of the IEEE Canadian Conference on Electrical and Computer Engineering, 919-924, May 1999.

Wei Kang, Ning Xi, Jindong Tan, "Analysis and Design of Non-Time Based Motion Controller for Mobile Robots", Proceedings of the IEEE International Conference on Robotics Automation, 2964-2969, May 1999.

Jindong Tan, Ning Xi, Wei Kang, "Tracking Control of Nonholonomic Mobile Robots", Proceedings of the IEEE Computational Intelligence on Robotics Automation, 77-82, 2000.

Jindong Tan, Ning Xi, Wei Kang, "The role of sensing in motion stability of mobile robots",Proceedings of IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, 62 -67, 1999.

Jindong Tan, Ning Xi, "Design and Implementation of a Hybrid Robot Motion Controller", Submitted to Conference on Decision and Control.

Wei Kang, Ning Xi, Jindong Tan, "Non-time Based Tracking Controller and Its Application to Nonholonomic Mobile Robots", submitted to IEEE Transaction on Robotics and Automation.

 

 

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