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Kinematic and Dynamic Control of Some Wheeled Mobile Platforms for Autonomous Service Robots
|關鍵字:||Service Robots;服務機器人;Mobile Platforms;Dynamic Control;移動平台;動態控制||出版社:||電機工程學系所||引用:|| W. E. Dixon, D. M. Dawson, E. Zergeroglu and A. Behal, Nonlinear control of wheeled mobile robots, Springer, 2001.  P. Soueres and J. P. Laumond, “Shortest path synthesis for a car-like robot,” IEEE Transactions on Automatic Control, vol.41,no.5, pp.672-688, 1996.  Y. J. Kanayama, Y. Kimura, F. Miyazaki, and T. Noguchi, “A stable tracking control scheme for an autonomous mobile robot,” Proceeding IEEE International Conference Robotics and Automation, pp.384-389, 1990.  C. Samson, “Control of chained systems applications to path following and time-varying point-stabilization of mobile robots,” IEEE Transactions on Robotics and Automation, vol. 40, no. 1, pp. 64-77, Jan. 1995.  Z. P. Jiang and H. Nijmeijer, “Tracking control of mobile robots: A case study in backstepping,” Automatica, vol.33, pp.1393-1399, 1997.  W. Oelen and J. 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Y. Akiyama, K. Sanada, “A study on design and evaluation of a power-assisted chair,” Proceeding of the SICE Annual Conference 2005, pp.3074-3078, 2005.  H. Maeda, S. Fujiwara, H. Kitano, H. Yamashita, “Development of omni-directional cart with power assist system,” Nippon Robotto Gakkai Gakujutsu Koenkai Yokoshu, vol. 18, pp.1155-1156, 2000 (in Japanese).||摘要:||
In recent years, the non-industry applications of robots have attracted much attention in both industry and academia. Hence, design of good interaction and between the human being and the robot and autonomous navigation to conform to the demand intelligent service robot have been prevalent topics for researchers in the robotics society in recent years. This dissertation aims to develop kinematic and dynamic controls of mobile platforms for autonomous service robots. The platforms under consideration cover two-wheeled differential-driving platforms, differential-driving power wheelchair with two omnidirectional caster wheels, three-wheeled omnidirectional mobile platforms, and four-wheeled omnidirectional mobile platforms. Several stable nonlinear control methods using backstepping are proposed to achieve regulation and trajectory tracking control of these mobile platforms. The effectiveness and merits of the proposed controllers are exemplified by conducting several computer simulations and experiments. The proposed techniques may provide useful theoretical and practical references for professionals working in the field of mobile robotics.
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