Conference Paper

Path Planning of Three Wheeled Omni-Directional Robot Using Bezier Curve Tracing Technique and PID control Algorithm

Authors:
To read the full-text of this research, you can request a copy directly from the authors.

No full-text available

Request Full-text Paper PDF

To read the full-text of this research,
you can request a copy directly from the authors.

Article
ABSTRAK Robot roda omni (OMR) merupakan salah satu jenis robot tipe holonomic, yaitu robot yang dapat bergerak ke segala arah tanpa harus mengubah orientasi dari robot itu sendiri. Dalam pengembangannya, OMR dapat ditambahkan kemampuan lain seperti menuju ke titik yang diinginkan dan menghindari rintangan. Pada makalah ini akan merancang dan mensimulasikan OMR dengan konfigurasi tiga buah roda omni menggunakan metode potential field yang dapat bergerak menuju titik yang diinginkan dan menghindari rintangan. Perancangan diawali dengan menentukan kinematika dari OMR, setelah itu diterapkan metode potential field dan terakhir pengujian secara simulasi dalam tampilan dua dimensi menggunakan perangkat lunak MATLAB dan analisis. Hasil simulasi pertama menunjukan OMR dapat bergerak ke segala arah tanpa mengubah orientasi robot berdasarkan kinematika yang telah dirancang. Hasil simulasi kedua OMR berhasil menuju titik yang diinginkan serta dapat menghindari dua buah rintangan. Kata kunci: robot roda omni, kinematika, potential field, penghindar rintangan, simulasi ABSTRACT An Omni-directional wheel mobile robot (OMR) is a type of holonomic robot, which can move in any direction without changing the orientation of the robot. In the development of OMR, other capabilities can also be added, such as the ability to reach the desired position and avoid obstacles. In this paper, we will design and simulate OMR with three omni wheel configurations using the potential field method which can move to the desired point and avoid obstacles. The design begins with determining the kinematics of the OMR, then the potential field method is applied and the last is simulation in a two-dimensional view using MATLAB software and analysis. The results of the first simulation show that OMR can move in all directions without changing the orientation of the robot based on the kinematics that has been designed. The results of the second simulation of OMR successfully reach the desired point and can avoid two obstacles. Keywords: omni directional wheel, kinematics, potential field, obstacle avoidance, simulation
Article
Full-text available
The purpose of the study was to odometry method and rotary enconder for wheeled soccer robot. There are several methods to determine the accurate position of soccer robot movement in a room where the other is the best chosen odometry method. The method of determining the position of the wrong movement is used on the soccer robot. The researchers of soccer robot keep doing research and development, including the researchers from Indonesia. In Indonesia, there is a robot contest that is called Kontes Robot Indonesia (KRI) which has five categories, one of them is a Kontes Robot Sepak Bola Indonesia. In KRSBI there are 2 division. That are Humanoid robot and wheeled robot. Wheeled Soccer Robot has many ability such as searching ball, searching goal keeper, avoid the enemies, control the wheel's speed and define the robot coordinate. In this research focused to determine the position of wheeled robot in the room. In previous research, previous authors used the Global Positioning System (GPS) and only know the position of robots outdoors. If a wheeled robot is applied indoors with the GPS method having an error (0.18%). Base on that condition, author use 3 Omni-wheels as the movement tool and use odometry method to define the position of the robot. This robot used Arduino as it main controller. Besides, rotary encoder is used to produce pulse for indicating movement, position, and direction of the robot which will go to the target of the ball. The author is expected to be able determine the coordinates of the robot in accordance with the actual robot position in the room and implement the odometry method to adjust the speed of the motor. Results from this research is position of odometry method (0.13%). Conclusion of this research odometry method more higher accuracy then GPS method.
Article
Full-text available
Omnidirectional robots can move in all directions without steering their wheels and it can rotate clockwise and counterclockwise with reference to their axis. In this paper, we focused only on front and back movement, to analyse the square- and triangle-structured omnidirectional robot movements. An omnidirectional mobile robot shows different performances with the different number of wheels and the omnidirectional mobile robot’s chassis design. Research is going on in this field to improve the accurate movement capability of omnidirectional mobile robots. This paper presents a design of a unique device of Angle Variable Chassis (AVC) for linear movement analysis of a three-wheeled omnidirectional mobile robot (TWOMR), at various angles ( θ ) between the wheels. Basic mobility algorithm is developed by varying the angles between the two selected omnidirectional wheels in TWOMR. The experiment is carried out by varying the angles ( θ = 30°, 45°, 60°, 90°, and 120°) between the two selected omniwheels and analysing the movement of TWOMR in forward direction and reverse direction on a smooth cement surface. Respectively, it is compared to itself for various angles ( θ ), to get its advantages and weaknesses. The conclusion of the paper provides effective movement of TWOMR at a particular angle ( θ ) and also the application of TWOMR in different situations.
Article
Full-text available
Bézier curve based smooth path planning algorithms for mobile robot are proposed in this paper. Firstly, the irregular obstacles in the environment are approximated by polygons and vertices of the polygons are exploited as the sites to construct a Voronoi diagram. Then a piecewise linear path is planned based on the Voronoi diagram and Dijkstra algorithm. The nodes on this path are used as control points of Bézier curve after removing redundant control points when necessary. The control point sequence is divided into subsequences to define piecewise Bézier curves, which are connected to constitute the entire Bézier curve. The simulations show that the Bézier curve based smooth path planning algorithms proposed in this paper could produce better smooth path for mobile robot with comparing to other methods. 1548-7741/
Article
Full-text available
Free download: http://eprints.gla.ac.uk/3817/1/IEEE3.pdf Designing and tuning a proportional-integral-derivative (PID) controller appears to be conceptually intuitive, but can be hard in practice, if multiple (and often conflicting) objectives such as short transient and high stability are to be achieved. Usually, initial designs obtained by all means need to be adjusted repeatedly through computer simulations until the closed-loop system performs or compromises as desired. This stimulates the development of "intelligent" tools that can assist engineers to achieve the best overall PID control for the entire operating envelope. This development has further led to the incorporation of some advanced tuning algorithms into PID hardware modules. Corresponding to these developments, this paper presents a modern overview of functionalities and tuning methods in patents, software packages and commercial hardware modules. It is seen that many PID variants have been developed in order to improve transient performance, but standardising and modularising PID control are desired, although challenging. The inclusion of system identification and "intelligent" techniques in software based PID systems helps automate the entire design and tuning process to a useful degree. This should also assist future development of "plug-and-play" PID controllers that are widely applicable and can be set up easily and operate optimally for enhanced productivity, improved quality and reduced maintenance requirements.
Article
Full-text available
With its three-term functionality offering treatment of both transient and steady-state responses, proportional-integral-derivative (PID) control provides a generic and efficient solution to real-world control problems. The wide application of PID control has stimulated and sustained research and development to "get the best out of PID", and "the search is on to find the next key technology or methodology for PID tuning". This article presents remedies for problems involving the integral and derivative terms. PID design objectives, methods, and future directions are discussed. Subsequently, a computerized simulation-based approach is presented, together with illustrative design results for first-order, higher order, and nonlinear plants. Finally, we discuss differences between academic research and industrial practice, so as to motivate new research directions in PID control.
Article
We review a range of techniques related to navigation of unmanned vehicles through unknown environments with obstacles, especially those that rigorously ensure collision avoidance (given certain assumptions about the system). This topic continues to be an active area of research, and we highlight some directions in which available approaches may be improved. The paper discusses models of the sensors and vehicle kinematics, assumptions about the environment, and performance criteria. Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are all reviewed. In preference to global approaches based on full knowledge of the environment, particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.
Article
This chapter outlines the history of the major developments in the area of curves and surfaces as they entered the area of computer aided geometric design (CAGD). The term “CAGD” was coined by R. Barnhill and R. Riesenfeld in 1974 when they organized a conference on that topic at the University of Utah. CAGD deals with the construction and representation of free-form curves, surfaces, or volumes. The earliest recorded use of curves in a manufacturing environment goes back to early AD Roman times for the purpose of shipbuilding. Shipbuilding connection was the earliest use of constructive geometry to define free-form shapes. Another early influential development for CAGD was the advent of numerical control (NC) in the 1950s. The chapter reveals that curves were employed by draftsmen for centuries; the majority of these curves were circles, but some were free-form. It defines French curves as wooden curves consisting of pieces of conies and spirals. The chapter also discusses the generalization of the concept of splines to surfaces.
Conference Paper
In most cases, indoor environment is unstable because of floor condition, obstacles and room noise. So, to elevate accuracy of robot position data at unstable condition, a robot navigation system needs to apply diverse sensor fusion methods. This paper presents a navigation system consisting of a MEMS based digital in-plane 3 axis IMU (inertial measurement unit), an active beacon system and an odometer to obtain more precise robot position data and to monitor robot movement in realtime. Two accelerometers and one gyroscope compensate the nonsystematic errors of an odometer and perceive collision, bounce and slippage. Besides, fusing data of an IMU and an odometer can provide robot position data when an active beacon is losing its signal. When relative robot position data is unreliable, an active beacon system provides the absolute position data of the robot. To reduce noise of input sensors signal, low-pass filter and Kalman filter are applied. The sensor data from an in-plane 3-axis IMU, an odometer and an active beacon system are combined to obtain a precise navigation system. Results from two experiments in a real environment show that accuracy of robot position is elevated and that robot position data is not lost irrespective of robot's environment.
Kinematics Control of an Omnidirectional Mobile Robot
  • tsai
Ching-Chih Tsai, Li-Bin Jiang, Kinematics Control of an Omnidirectional Mobile Robot, CACS Automatic Control Conference Tainan, Taiwan, Nov 18-19, 2005.
Design and Control for Differential Drive Mobile Robot
  • Diriba Boru
  • Wang Hirpo
  • Zhongmin
Boru Diriba Hirpo, Prof. Wang Zhongmin, Design and Control for Differential Drive Mobile Robot, International Journal of Engineering Research Technology (IJERT) 2017 ISSN: 2278-0181
Design and Control for Differential Drive Mobile Robot
  • hirpo