Skip to main content
SpringerLink
Log in

Influence of Choosing the Extending Column in Trajectory Tracking Control of SSMP Platform Using Artificial Force Method

  • Conference paper
Intelligent Systems'2014

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 323))

  • 3956 Accesses

Abstract

Paper presents application of artificial force method in mathematical model of Skid Steering Mobile Platform. This method is used for controlling nonholonmic object, which is underactuated due to the lateral slippage phenomena needed for changing the orientation. Paper focuses on influence of choosing different columns in the position error and torque domain, which is important from the practical point of view. It was proved that the choose of extending column may have an influence on the quality of control.The control algorithms were tested in numerous simulations and proved to work properly under different conditions (e.g. motor torque limitations).

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Samson, C., Ait-Abderrahim, K.: Feedback control of a nonholonomic wheeled cart in cartesian space. In: Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 1136–1141 (1991)

    Google Scholar 

  2. Caracciolo, L., De Luca, A., Iannitti, S.: Trajectory tracking control of a four-wheel differentially driven mobile robot. In: Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 2632–2638 (1999)

    Google Scholar 

  3. Kozłowski, K., Pazderski, D.: Modeling and control of a 4-wheel skid-steering mobile robot. International Journal of Applied Mathematics and Computer Science, 477–496 (2004)

    Google Scholar 

  4. Mazur, A.: Model-based control for nonholonomic mobile manipulators. Oficyna Wydawnicza Politechniki Wrocławskiej (2009) (in Polish)

    Google Scholar 

  5. Cholewiński, M., Arent, K., Mazur, A.: Towards practical implementation of an artificial force method for control of the mobile platform Rex. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds.) Recent Advances in Automation, Robotics and Measuring Techniques. AISC, vol. 267, pp. 353–364. Springer, Heidelberg (2014)

    Google Scholar 

  6. Duleba, I.: Metody i algorytmy planowania ruchu robotw mobilnych i manipulacyjnych. Akademicka Oficyna Wydawnicza EXIT, Warszawa (2001) (in Polish)

    Google Scholar 

  7. Mazur, A., Cholewiński, M.: Virtual force concept in steering mobile manipulators with skid-steering platform moving in unknown environment. Journal of Intelligent and Robotic Systems, 1–11 (2013)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Chair of Cybernetics and Robotics Electronics Faculty, Wroclaw University of Technology, ul. Janiszewskiego 11/17, 50-372, Wroclaw, Poland

    Mateusz Cholewiński & Alicja Mazur

Authors
  1. Mateusz Cholewiński
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Alicja Mazur
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Mateusz Cholewiński .

Editor information

Editors and Affiliations

  1. Ford Motor Company, Research & Advanced Engineering, Dearborn, Mississippi, USA

    D. Filev

  2. Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland

    J. Jabłkowski

  3. Polish Academy of Sciences, Systems Research Institute, Warsaw, Poland

    J. Kacprzyk

  4. Polish Academy of Sciences and WIT - Warsaw School of Information Technology, Systems Research Institute, Warsaw, Poland

    M. Krawczak

  5. Bulgarian Academy of Sciences, Institute of Information and Communication, Sofia, Bulgaria

    I. Popchev

  6. Department of Computer Engineering, Częstochowa University of Technology, Częstochowa, Poland

    L. Rutkowski

  7. Bulgarian Academy of Sciences, Institute of Information and Communication Technologies, Sofia, Bulgaria

    V. Sgurev

  8. Department of Computer and Information Technologies, “Prof. Assen Zlatarov" University Faculty of Technical Sciences, Bourgas, Bulgaria

    E. Sotirova

  9. Industrial Research Institute for Automation and Measurements (PIAP), Warsaw, Poland

    P. Szynkarczyk

  10. Polish Academy of Sciences, Systems Research Institute, Warsaw, Poland

    S. Zadrozny

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer International Publishing Switzerland

About this paper

Cite this paper

Cholewiński, M., Mazur, A. (2015). Influence of Choosing the Extending Column in Trajectory Tracking Control of SSMP Platform Using Artificial Force Method. In: Filev, D., et al. Intelligent Systems'2014. Advances in Intelligent Systems and Computing, vol 323. Springer, Cham. https://doi.org/10.1007/978-3-319-11310-4_12

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-11310-4_12

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-11309-8

  • Online ISBN: 978-3-319-11310-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation