The paper describes an on-line trajectory time-scaling control algorithm for wheeled mobile robots. To reduce tracking errors the controller modifies the velocity profile of the reference trajectory according to the closed loop behavior of the robot. The geometry of the reference trajectory is unchanged, only the time distribution varies during the motion. We give a control algorithm which uses time-scaled reference and a feedback calculated from the linearized error dynamics. The closed loop behavior is also studied together with the controllability of the linearized error dynamics.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Zefran M (1994) Review of the Literature on Time-Optimal Control of Robotic Manipulators, GRASP Laboratory, Department of Computer and Information Science, University of Pennsylvania
Wu W, Chen H, Woo P-Y (2000) Time Optimal Path Planning for a Wheeled Mobile Robot, J. Robotic Syst. 17(11):585–591
Hollerbach J M (1984) Dynamic Scaling of Manipulator Trajectories, J. Dyn. Syst. Meas. Control, Trans. ASME 106(1):102–106
Sahar G, Hollerbach J M (1986) Planning of Minimum-Time Trajectories for Robot Arms, Int. J. Robot. Res. 5(3):90–100
Moon S B, Ahmad S (1991) Time Scaling of Cooperative Multirobot Trajectories, IEEE Trans. Syst., Man, Cybern. 21(4):900–908
Graettinger T J, Krogh B H (1989) Evaluation and Time-Scaling of Trajectories for Wheeled Mobile Robots, J. Dyn. Syst. Meas. Control, Trans. ASME 111:222–231
Dahl O, Nielsen L (1990) Torque-Limited Path Following by On-Line Trajectory Time Scaling, IEEE Trans. Robot. Automat. 6(5):554–561
Kumagai A, Kohli D, Perez R (1996) Near-Minimum Time Feedback Controller for Manipulators Using On-Line Time Scaling of Trajectories, J. Dyn. Syst. Meas. Control, Trans. ASME 118:300–308
Bemporad A, Tarn T-J, Xi N (1999) Predictive Path Parameterization for Constrained Robot Control, IEEE Trans. Contr. Syst. Technol. 7(6):648–656
Léine J (2004) On the Synchronization of a Pair of Independent Windshield Wipers, IEEE Trans. Contr. Syst. Technol. 12(5):787–795
Szádeczky-Kardoss E, Kiss B (2006) Tracking Error Based On-Line Trajectory Time Scaling, In: Proceedings of 10th International Conference on Intelligent Engineering Systems (INES 2006), 80–85
Chevallereau C (2003) Time-Scaling Control for an Underactuated Biped Robot, IEEE Trans. Robot. Automat. 19(2):362–368
Respondek W (1998) Orbital Feedback Linerization of Single-Input Nonlinear Control Systems, In: Proceedings of the IFAC NOLCOS'98, 499–504
Kiss B, Szádeczky-Kardoss E (2007) Tracking Control of Wheeled Mobile Robots with a Single Steering Input, In: Proceedings of the 4th International Conference on Informatics in Control, Automation and Robotics, unpublished
Rouchon P, Fliess M, Lévine J, Martin Ph (1993) Flatness and Motion Planning: The Car with n-Trailers, In: Proceedings of the European Control Conference (ECC’93), 1518–1522
Cuesta F, Ollero A (2005) Intelligent Mobile Robot Navigation, In: Springer Tracts in Advanced Robotics, Springer, Berlin, 16
Dixon W E, Dawson D M, Zergeroglu E, Behal A (2001) Nonlinear Control of Wheeled Mobile Robots, In: Lecture Notes in Control and Information Sciences, Springer, Berlin/ Heidelberg/New York
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Szádeczky-Kardoss, E., Kiss, B. (2009). On-Line Trajectory Time-Scaling to Reduce Tracking Error. In: Machado, J.A.T., Pátkai, B., Rudas, I.J. (eds) Intelligent Engineering Systems and Computational Cybernetics. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8678-6_1
Download citation
DOI: https://doi.org/10.1007/978-1-4020-8678-6_1
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-8677-9
Online ISBN: 978-1-4020-8678-6
eBook Packages: Computer ScienceComputer Science (R0)