Skip to main content
Springer Nature Link
Log in

Robust oscillation control of wheeled mobile robots

  • Original Article
  • Published:
Artificial Life and Robotics Aims and scope Submit manuscript

Abstract

In cases where a wheeled mobile robot runs fast on a rough surface, the sensors mounted on the robot’s body may be destroyed due to the body acceleration and oscillation. In this article, we propose a new scheme to reduce the body acceleration at any specified location for mobile robots with the actuators set on the wheel axes. To achieve this, a combined ideal robot model is designed. In the combined ideal robot model, the location where the acceleration performance is at its best can easily be moved by setting only two design parameters. Next, a robust model tracking controller is developed so that the behavior of an actual mobile robot can track the combined ideal robot model. The developed controller has the following useful properties. (1) The body acceleration at any specified location can easily be improved. (2) The developed controller has good robustness for uncertainties in robot mass, pitch and roll moment of inertia of the robot’s body, and the position of the center of gravity.

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

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Hoffmann GM, Tomlin CJ, Montemerlo M, et al (2007) Autonomous automobile trajectory tracking for off-road driving: controller design, experimental validation and racing. Proceedings of the American Control Conference, New York, July 11–13, 2007, IEEE, New York, pp 2296–2301

    Google Scholar 

  2. Terupally CR, Zhu JJ, Williams RL (2007) Trajectory tracking and stair-climbing capability assessment for a skid-steered mobile robot. Proceedings of the American Control Conference, New York, July 11–13, 2007, IEEE, New York, pp 2861–2866

    Google Scholar 

  3. Lhomme-Desages D, Grand C, Guinot J-C (2007) Trajectory control of a four-wheel skid-steering vehicle over soft terrain using a physical interaction model. Proceedings of the 2007 IEEE International Conference on Robotics and Automation, Rome, April 10–14, IEEE, New York, pp 1164–1169

    Chapter  Google Scholar 

  4. Bugeja MK, Fabri SG (2007) Dual adaptive control for trajectory tracking of mobile robots. Proceedings of the 2007 IEEE International Conference on Robotics and Automation, Rome, April 10–14, IEEE, New York, pp 2215–2220

    Chapter  Google Scholar 

  5. Takahashi M, Yoneda K, Hirose S (2006) Rough terrain locomotion of a leg-wheel hybrid quadruped robot. Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, May 15–19, 2006, IEEE, New York, pp 1090–1095

    Chapter  Google Scholar 

  6. Grand C, BenAmar F, Plumet F, et al (2004) Decoupled control of posture and trajectory of the hybrid wheel-legged robot Hylos. Proceedings of the 2004 IEEE International Conference on Robotics and Automation, New Orleans, April 26–May 1, IEEE, New York, pp 5111–5116

    Chapter  Google Scholar 

  7. McKenna JC, Anhalt DJ, Bronson FM, et al (2008) Toroidal skin drive for snake robot locomotion. Proceedings of the 2008 IEEE International Conference on Robotics and Automation, USA, May 19–23, IEEE, New York, pp 1150–1155

    Google Scholar 

  8. Kimura H, Hirose S, Shimizu K (2004) Stuck evasion control for active-wheel passive-joint snake-like mobile robot “Genbu.” Proceedings of the 2004 IEEE International Conference on Robotics and Automation, New Orleans, April 26–May 1, IEEE, New York, pp 5087–5092

    Chapter  Google Scholar 

  9. Oya M, Harada H, Araki Y (2007) An active suspension controller achieving the best ride comfort at any specified location on a vehicle. J Syst Design Dyn 1(2):245–256

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical and Control Engineering, Kyushu Institute of Technology, 1-1 Sensui-cho, Tobata-ku, Kitakyushu, Fukuoka, 804-8550, Japan

    Yasutaka Tsuchida, Masahiro Oya & Natsuki Takagi

  2. Department of Systems Design and Informatics, Kyushu Institute of Technology, Fukuoka, Japan

    Qiang Wang

Authors
  1. Yasutaka Tsuchida
    View author publications

    You can also search for this author inPubMed Google Scholar

  2. Masahiro Oya
    View author publications

    You can also search for this author inPubMed Google Scholar

  3. Natsuki Takagi
    View author publications

    You can also search for this author inPubMed Google Scholar

  4. Qiang Wang
    View author publications

    You can also search for this author inPubMed Google Scholar

Corresponding author

Correspondence to Masahiro Oya.

Additional information

This work was presented in part at the 14th International Symposium on Artificial Life and Robotics, Oita, Japan, February 5–7, 2009

About this article

Cite this article

Tsuchida, Y., Oya, M., Takagi, N. et al. Robust oscillation control of wheeled mobile robots. Artif Life Robotics 14, 357–361 (2009). https://doi.org/10.1007/s10015-009-0681-2

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10015-009-0681-2

Key words