Figure 1.
WMR in coordinates and its dynamic factors
Figure 2.
Overall structure of proposed control scheme
Figure 3.
Diagram of outer-loop tracking controller
Figure 4.
Block diagram of WMR experimental control implementation
Figure 5.
Apparatus of WMR with an ArUco marker and embedded computer
Figure 6.
Setup of electric components in WMR
Figure 7.
Overall image of experimental control setup
Table 1.
Robot simulation parameters
| Parameter | Description | Value |
|---|---|---|
| r | Wheel radius (m) | 0.06 |
| 2b | Driving wheel distances (m) | 0.31 |
| mG | Weight of robot flatform (kg) | 10 |
| mW | Weight of robot wheel (kg) | 0.7 |
| Distance of MG (m) | 0.1 | |
| IG | inertial moment of the platform about the vertical axis through point G (kg.m2) | 0.2 |
| Iw | inertial moment of each wheel about its rotational axis (kg.m2) | 0.0013 |
| ID | inertial moment of each wheel about its diameter axis (kg.m2) | 0.0038 |
Figure 8.
Circular trajectory tracking result by using proposed controller
Figure 9.
Circular trajectory tracking errors by using proposed controller
Figure 10.
Reference speeds of driving wheels with respect to circular trajectory generated by proposed controller
Figure 11.
Disturbances estimation with respect to circular trajectory from proposed controller
Figure 12.
Circular trajectory tracking result by controller from [33]
Figure 13.
Circular trajectory tracking error by controller from reference [33]
Figure 14.
Reference speeds of driving wheels with respect to circular trajectory generated by controller from [33]
Figure 15.
Disturbances estimation by controller from [33]
Figure 16.
Eight-like trajectory tracking result by using proposed controller
Figure 17.
Eight-like trajectory tracking error with respect to eight-like by proposed controller
Figure 18.
Reference speeds of driving wheels with respect to eight-like trajectory generated by proposed controller
Figure 19.
Disturbances estimation with respect to eight-like trajectory from proposed controller
Figure 20.
Eight-like trajectory tracking result by controller from [33]
Figure 21.
Eight-like trajectory tracking error by controller from reference [33]
Figure 22.
Reference speeds of driving wheels with respect to Eight-like trajectory generated by controller from [33]
Figure 23.
Disturbances estimation with respect to eight-like by controller from [33]
Figure 24.
Experimental tracking result with respect to circular trajectory
Figure 25.
Experimental tracking errors with respect to circular trajectory
Figure 26.
Experimental wheels velocity with respect to circular trajectory
Figure 27.
Experimental disturbances estimation with respect to circular trajectory
Figure 28.
Experimental tracking result with respect to square trajectory
Figure 29.
Experimental tracking error with respect to square trajectory
Figure 30.
Experimental wheels velocity with respect to square trajectory
Figure 31.
Experimental disturbances estimation with respect to square trajectory
Figure 32.
Experimental tracking result with respect to 4loops circular trajectory under 5 kg load
Figure 33.
Experimental tracking errors with respect to 4loops circular trajectory under 5 kg load
Figure 34.
Experimental wheels velocity with respect to 4loops circular trajectory under 5 kg load
Figure 35.
Experimental tracking result with respect to 4loops square trajectory under 5 kg load
Figure 36.
Experimental tracking errors with respect to 4loops square trajectory under 5 kg load
Figure 37.
Experimental wheels velocity with respect to 4loops circular trajectory under 5 kg load