Autonomous mobile robots and vehicles are a longstanding but recently reinvigorated research area, due in part to the commercialization of sensors technologies and processing power. In this work, a fully autonomous turf-care robot is used as a basis for development of a trajectory control solution with application to differential-drive robots with displaced end-effectors. A kinematic model for the vehicle is derived as well as expressions for the movement of the tool (end-effector), shown to be a system of the Liouvillan type. The Liouvillan model allows for the development of a feed-forward controller and feed-back controller, which are combined to allow trajectory tracking based on an arbitrary linear-segmented path. The path will ideally be a covering path and can be generated by an algorithm described in previous work. To validate the model and controller, the control solution is tested by numerical simulation against a kinematic model in MATLAB/Simulink and additionally against a dynamic 6-DOF model in OSRF Gazebo software. The developed controller enables sufficient tool trajectory-tracking in the kinematic model, but there are significant oscillations and deviations when used with a dynamic model, warranting further work on the feedback controller.
|Titel||Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)|
|Status||Udgivet - sep. 2018|
- Teknik, ingeniørvidenskab og IT