Hostname: page-component-586b7cd67f-tf8b9 Total loading time: 0 Render date: 2024-11-27T20:54:34.527Z Has data issue: false hasContentIssue false
  • English
  • Français

Continuous mobility of mobile robots with a special ability for overcoming driving failure on rough terrain

Published online by Cambridge University Press:  31 August 2016

He Xu ,
X. Z. Gao ,
Yan Xu ,
Kaifeng Wang ,
Hongpeng Yu ,
Zhen Li ,
Khalil Alipour  and
Ozoemena Anthony Ani
He Xu
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China. E-mail: [email protected], [email protected], [email protected], [email protected]
X. Z. Gao
Affiliation:
Department of Electrical Engineering and Automation, Aalto University School of Electrical Engineering, Aalto, 02130, Finland. E-mail: [email protected]
Kaifeng Wang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China. E-mail: [email protected], [email protected], [email protected], [email protected]
Hongpeng Yu
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China. E-mail: [email protected], [email protected], [email protected], [email protected]
Zhen Li
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China. E-mail: [email protected], [email protected], [email protected], [email protected]
Khalil Alipour
Affiliation:
Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran. E-mail: [email protected]
Ozoemena Anthony Ani
Affiliation:
Department of Agric. & Bio-resources Engineering, Faculty of Engineering, University of Nigeria, Nsukka 41001, Enugu State, Nigeria. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

For wheeled mobile robots moving in rough terrains or uncertain environments, driving failure will be encountered when trafficability failure occurs. Continuous mobility of mobile robots with special ability for overcoming driving failure on rough terrain has rarely been considered. This study was conducted using a four-wheel-steering and four-wheel-driving mobile robot equipped with a binocular visual system. First, quasi-static force analysis is carried out to understand the effects of different driving-failure modes on the mobile robot while moving on rough terrain. Secondly, to make the best of the rest of the driving force, robot configuration transformation is employed to select the optimal configuration that can overcome the driving failure. Thirdly, sliding mode control based on back-stepping is adopted to enable the robot achieve continuous trajectory tracking with visual feedback. Finally, the efficacy of the presented approach is verified by simulations and experiments.

Keywords

Continuous mobilityRough terrainVisual feedbackWheeled mobile robotsDriving failureConfiguration transformation
Type
Articles
Information
Robotica , Volume 35 , Issue 10 , October 2017 , pp. 2076 - 2096
Copyright
Copyright © Cambridge University Press 2016 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Siegwart, R., Nourbakhsh, I. R. and Scaramuzza, D., “Introduction to autonomous mobile robots,” MIT Press 31–45 (2004).Google Scholar
2. Moosavian, S. A. A. and Alipour, K., “On the dynamic tip-over stability of wheeled mobile manipulators,” Int. J. Robot. Autom. 22 (4), 322–328 (2007).Google Scholar
3. Jung, M. J. and Kim, J. H., “Fault Tolerant Control Strategy for OmniKity-III,” Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea, (May 21–26, 2001) pp. 3370–3375.Google Scholar
4. Letchmanan, R., Economou, J. T., Tsourdos, A., Ashokaraj, I. A., and White, B. A., “Fault Evaluation of Relative-Coupled BLDC Drives for Multi-Facet Mobile Robot with Distributed Speed Factors,” Proceedings of the IEEE Vehicle Power and Propulsion Conference, Windsor, Canada, (September 6–8, 2006) pp. 1–6.Google Scholar
5. Wang, D. W., Pham, M., Low, C. B. and Tan, C., “Development and Implementation of a Fault-Tolerant Vehicle-Following Controller for a Four-Wheel-Steering Vehicle,” Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Beijing, China, (October 9–15, 2006) pp. 13–18.Google Scholar
6. Yang, H., Cocquempot, V. and Jiang, B., “Optimal fault-tolerant path-tracking control for 4WS4WD electric vehicles,” IEEE Trans. Intell. Transp. Syst. 11 (1), 237–243 (2010).Google Scholar
7. Xu, H., Marie, B. S. and Wei, R., “Control Strategy Toward Mobile Robot Based on Driven Configuration Matrix,” Proceedings of the 2006 IEEE International Conference On Industrial Electronics, Paris, France, (November 6–10, 2006) pp. 694–699.CrossRefGoogle Scholar
8. Tarokh, M. and McDermott, G. J., “Kinematics modeling and analyses of articulated rovers,” IEEE Trans. Robot. 21 (4), 539–553 (2005).Google Scholar
9. Fu, Y. L., Xu, H., Wang, S. G. and Han, L., “Topological Analysis and Control on Mobile Robot with Partially-Failed Propulsive Wheel,” Proceedings of the IEEE International Conference on Robotics and Automation, Barcelona, Spain, (April 18–22, 2005) pp. 3440–3445.Google Scholar
10. Andrade, G., Amar, F. B., Bidaud, P. and Chatila, R., “Modeling Robot-Soil Interaction for Planetary Rover Motion Control,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, BC, October 13–17, 1, (1998) pp. 576–581.Google Scholar
11. Iagnemma, K., Rzepniewski, A., Dubowsky, S., Pirjanian, P., Huntsberger, T. L. and Schenker, P. S., “Mobile Robot Kinematic Reconfigurability for Rough Terrain,” Proceedings of SPIE - The International Society for Optical Engineering, Bellingham, Wash., USA, October 16, 4196, (2000) pp. 413–420.Google Scholar
12. Iagnemma, K., Rzepniewski, A., Dubowsky, S. and Schenker, P., “Control of robotic vehicles with actively articulated suspensions in rough Terrain,” Auton. Robots 14 (1), 5–16 (2003).CrossRefGoogle Scholar
13. Lim, K. B. and Yoon, Y. S., “Reconfiguration planning for a robotic vehicle with actively articulated suspension in obstacle Terrain during straight motion,” Adv. Robot. 26 (13), 1471–1494 (2012).CrossRefGoogle Scholar
14. Schenker, P. S., Huntsberger, T. L., Pirjanian, P., Baumgartner, E. T. and Tunstel, E., “Planetary rover developments supporting mars exploration, sample return and future human-robotic colonization,” Auton. Robots. 14 (2), 103–126 (2003).CrossRefGoogle Scholar
15. Schenker, P. S., Pirjanian, P., Balaram, J., Ali, K. S., Trebi-Ollennu, A., Huntsberger, T. L., Aghazarian, H., Kennedy, B. A., Baumgartner, E. T., Iagnemma, K. D., Rzepniewski, A., Dubowsky, S., Leger, P. C., Apostolopoulos, D. and McKee, G. T., “Reconfigurable Robots for All Terrain Exploration,” Proceedings of SPIE - The International Society for Optical Engineering, Bellingham, Wash., USA, October 16, 4196, (2000) pp. 454–468.Google Scholar
16. Nesnas, I. A. D., Abad-Manterola, P., Edlund, J. A. and Burdick, J. W., “Axel Mobility Platform for Steep Terrain Excursions and Sampling on Planetary Surfaces,” IEEE Aerospace Conference, Big Sky, MT, (March 1–8, 2008) pp. 1–11.Google Scholar
17. Portugal, D. and Rocha, R. P., “Distributed multi-robot patrol: A scalable and fault-tolerant framework,” Robot. Auton. Syst. 61 (12), 1572–1587 (2013).CrossRefGoogle Scholar
18. Huntsberger, T., Pirjanian, P., Trebi-Ollennu, A., Nayar, H. Das, Aghazarian, H., Ganino, A. J., Garrett, M., Joshi, S. S. and Schenker, P. S., “CAMPOUT: A control architecture for tightly coupled coordination of multirobot systems for planetary surface exploration,” IEEE Trans. Syst. Man Cybern. A 33 (5), 550–559 (2003).CrossRefGoogle Scholar
19. Chang, Y. H., Chan, W. S., Yang, C.Y., Tao, C. W. and Su, S. F., “Adaptive Dynamic Surface Control for Fault-Tolerant Multi-Robot Systems,” Proceedings of the IEEE International Conference on System Science and Engineering (ICSSE), Budapest, Hungary (Jul. 04–06, 2013) pp. 25–30.Google Scholar
20. Chen, X. B., Gao, F., Qi, C. K. and Tian, X. H., “Gait planning for a quadruped robot with one faulty actuator,” Chinese J. Mech. Eng. 28 (1), 11–19 (2015).Google Scholar
21. Zhao, B. and Li, Y. C., “Local joint information based active fault tolerant control for reconfigurable manipulator,” Nonlinear Dynamics 77 (3), 859–876 (2014).Google Scholar
22. Ben-Gharbia, K. M., Maciejewski, A. A. and Roberts, R. G., “A kinematic analysis and evaluation of planar robots designed from optimally fault-tolerant jacobians,” IEEE Trans. Robot. 30 (2), 516–524 (2014).Google Scholar
23. Iagnemma, K. and Dubowsky, S., “Traction control of wheeled robotic vehicles in rough terrain with application to planetary rovers,” Int. J. Robot. Res. 23 (10–11), 1029–1040 (2004).CrossRefGoogle Scholar
24. Hoy, M., Matveev, A. S. and Savkin, A. V., “Algorithms for collision-free navigation of mobile robots in complex cluttered environments: A survey,” Robotica, 33 (3), 463–497 (2015).Google Scholar
25. Liao, Y. L., Zhang, M. J. and Wan, L., “Serret-Frenet frame based on path following control for underactuated unmanned surface vehicles with dynamic uncertainties,” J. Central South University 22 (1), 214–223 (2015).Google Scholar
26. Al-Araji, A. S., “Development of kinematic path-tracking controller design for real mobile robot via back-stepping slice genetic robust algorithm technique,” Arabian J. Sci. Eng. 39 (12), 8825–8835 (2014).Google Scholar
27. Jiang, Y. L., Yu, D., Wang, H. X.. “Multi-Model Back-Stepping Sliding Mode Control of Robotic Manipulators,” Proceedings of the Chinese Control and Decision Conference, Changsha, China, (May 31–June 2, 2014), pp. 524–529.Google Scholar