Robotics 1 Wheeled Mobile Robots Analysis, Planning, and Control

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Control architecture � SuperMARIO � with odometry (encoders on two wheels) � with external localization (from overhead camera) Robotics 1 28
“Parking” of SuperMARIO � all maneuvers are driven by the feedback control using the current error with respect to the final desired configuration (posture regulation task, without planning!), processing the visual image (three LEDs seen by a camera fixed to the ceiling) for WMR localization using polar coordinates using dynamic linearization Robotics 1 29
Page 1 and 2: Robotics 1 Wheeled Mobile Robots An
Page 3 and 4: Controllability analysis are the di
Page 5 and 6: 0 Controllability of unicycle rank
Page 7 and 8: Controllability of car-like (RD) ra
Page 9 and 10: � digital control scheme digital
Page 11 and 12: Odometry (cont’d) � in practice
Page 13 and 14: � in general, for Model transform
Page 15 and 16: � a nonlinear dynamical system Fl
Page 17 and 18: Flat outputs for more complex WMRs
Page 19 and 20: Path planning (cont’d) a solution
Page 21 and 22: -1 -3 -5 -7 -9 -11 -13 -15 -17 star
Page 23 and 24: Comparative numerical results two d
Page 25 and 26: Motion control � control schemes
Page 27: 1. introduce a single state ξ in t
Page 31 and 32: Trajectory tracking using DFL � s
Page 33 and 34: Motivation for trajectory control m
Page 35 and 36: Input-output exact linearization 1.
Page 37 and 38: desired trajectory (for point B): s
Page 39 and 40: Further interesting topics … �
Page 41 and 42: Legged locomotion � ASPICE projec
Page 43: Appendix Differential geometry - 2

Robotics 1 Wheeled Mobile Robots Analysis, Planning, and Control

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