Integrated control and navigation for omni-directional mobile robot based on trajectory linearization

Proceedings of the American Control Conference

Volumn , Issue , 2007, Pages 2153-2158

  Liu, Yong ^a   Williams II, Robert L ^a   Zhu, J Jim ^a  

^a US Institute of Navigation   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

(OTDR) TECHNOLOGY; (P ,P ,T) MEASUREMENTS; ACCURATE LOCATION; CLOSED LOOPS; INTEGRATED NAVIGATION; KINEMATIC INVERSION; LINEAR TIME-VARYING (LTV); NAVIGATION ALGORITHMS; NOMINAL TRAJECTORIES; NONLINEAR KALMAN FILTERING; OMNI-DIRECTIONAL MOBILE ROBOT; OPEN LOOPS; ORIENTATION MEASUREMENTS; REAL-TIME HARDWARE; ROBOT CONTROLLERS; ROBOT CONTROLS; ROBOT LOCATION; ROBOT NAVIGATION; SENSOR FUSION (SF); SIMULATION SYSTEM (SS); TEST RESULTS; TRAJECTORY LINEARIZATION CONTROL (TLC); TRAJECTORY TRACKING; VISION MEASUREMENT; VISION SYSTEMS;

CONTROL THEORY; DATA FUSION; DETECTORS; FLIGHT DYNAMICS; FUSION REACTIONS; INDUSTRIAL MANAGEMENT; INTEGRATED CONTROL; KINEMATICS; LINEARIZATION; MEASUREMENTS; MILITARY DATA PROCESSING; MOBILE ROBOTS; NAVIGATION; NAVIGATION SYSTEMS; NUCLEAR PHYSICS; ROBOTICS; SENSOR DATA FUSION; SENSORS; TRAJECTORIES; VISUAL COMMUNICATION;

ROBOTS;

EID: 46449092121     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ACC.2007.4282967     Document Type: Conference Paper

References (16)

1. F. G. Pin, and S. M. Killough, "A new family of omnidirectional and holonomic wheeled platforms for mobile robots," IEEE Trans. Robotics Automat. 10(2) (1994), pp480-489.
2. M.-J. Jung, H.-S. Kim, S. Kim, and J.-H. Kim, "Omni-Directional Mobile Base OK-II", Proceedings of the IEEE International Conference on Robotics and Automation, 4: 3449-3454, 2000.
3. Y. Liu, X. Wu, J. J. Zhu and J. Lew, "Omni-Directional Mobile Robot Controller Design by Trajectory Linearization", Proceedings of the American Control Conference, v 4, 2003, p 3423-3428
4. Y. Liu, J. J. Zhu, R. L. Williams II, and J. Wu, "Omni-Directional Mobile Robot Controller Based on Trajectory Linearization", submitted to Robotics and Autonomous Systems.
5. M. C. Mickle, R. Huang, and J. J. Zhu, "Unstable, Nonminimum Phase, Nonlinear Tracking by Trajectory Linearization Control," Proceedings, pp. 812-818, 2004 IEEE Conference on Control Applications, Taipei, Taiwan, Sept. 2004.
6. J. J. Zhu, B. D. Banker, C. E. Hall, "X-33 Ascent Flight Controller Design by Trajectory Linearization- A Singular Perturbational Approach," 2000 AIAA Guidance, Navigation, and Control Conference, Denver, CO, Aug. 2000.
7. M. C. Mickle, and J. J. Zhu, "Bank-To-Turn Roll-Yaw-Pitch Autopilot Design Using Dynamic Nonlinear Inversion and PD-eigenvalue assignment", Proc., 2000 American Control Conference, Chicago, IL, to appear, June 2000
8. J. J. Zhu, A. S. Hodel, K. Funston, K. and C. E. Hall, "X-33 entry flight controller design by trajectory linearization - a singular perturbational approach," AAS-01-012, American Astronautical Society Guidance and Control Conference, Breckenridge, Colorado, Jan. 2001.
9. X. Wu, Y. Liu, and J. J. Zhu, "Design and Real-Time Testing of a Trajectory Linearization Flight Controller for the 'Quanser UFO'", Proceedings of the American Control Conference, v 4, 2003, p 3931-3938.
10. J. J. Zhu, and A. B. Huizenga, "A type two trajectory linearization controller for a reusable launch vehicle - A singular perturbation approach", Collection of Technical Papers - AIAA Atmospheric Flight Mechanics Conference. v. 2 (2004) p. 1121-1137.
11. R. Huang, M. C. Mickle, and J. J. Zhu, "Nonlinear Time-varying Observer Design Using Trajectory Linearization", Proceedings of the American Control Conference, v 6, 2003, p 4772-4778.
12. R. L. Williams II, B. E. Carter, P. Gallina, P. and G. Rosati, "Dynamic Model with Slip for Wheeled Omni-Directional Robots", IEEE Transactions on Robotics and Automation, 18(3): 285-293. 2002.
13. D. L. Hall, and S. A. H. McMullen, Mathematical Techniques in MultiSensor Data Fusion, Artech House, Boston, 2nd ed, 2004.
14. R. G. Brown, and P. Y. C. Hwang, Introduction to random signals and applied Kalman filtering : with MATLAB exercises and solutions, 3rd ed, Wiley, New York.
15. J. Richard and N. D. Sigpurwalla, "Understanding the Kalman Filter", The American Statistician, May 1983, Volume 37, No. 2
16. S. Arulampalam, S. Maskell, N. J. Gordon, and T. Clapp, "A Tutorial on Particle Filters for On-line Non-linear/Non-Gaussian Bayesian Tracking", IEEE Transactions of Signal Processing, Vol. 50(2), pages 174-188.