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Wall-following control of a two-wheeled mobile robot

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Abstract

Wall-following control problem for a mobile robot is to move it along a wall at a constant speed and keep a specified distance to the wall.This paper proposes wall-following controllers based on Lyapunov function candidate for a two-wheeled mobile robot (MR) to follow an unknown wall. The mobile robot is considered in terms of kinematic model in Cartesian coordinate system. Two wall-following feedback controllers are designed: full state feedback controller and observer-based controller. To design the former controller, the errors of distance and orientation of the mobile robot to the wall are defined, and the feedback controller based on Lyapunov function candidate is designed to guarantee that the errors converge to zero asymptotically. The latter controller is designed based on Busawon’s observer as only the distance error is measured. Additionally, the simulation and experimental results are included to illustrate the effectiveness of the proposed controllers.

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Abbreviations

(x,y):

Fixed coordinates of mobile robot [m]

(X, Y) :

Moving coordinates of mobile robot [m]

r :

Wheel radius [m]

b :

Distance from mobile robot center to driving wheel [m]

W :

A point on reference wall

ρ:

Wall curved radius at pointW [m]

t-t :

Tangential line with wall at pointW

φw :

Wall orientation at pointW [rad]

φ:

Head angle of mobile robot [rad]

d :

Distance from mobile robot tot-t [m]

υ:

Straight velocity of mobile robot at its center point [m/s]

ω:

Angular velocity of mobile robot at its center point [rad/s]

ωrw, ωlw :

Angular velocities of the right and left wheels [rad/s]

υw :

Velocity of point W[m/s]

ωw :

Time rate of the change oft-t direction [rad/s]

e 1,e 1 :

Distance and angular errors [m]

υr :

Constant speed [m/s]

d r :

Desired distance value [m]

s :

Known function

f i :

ClassC 1 that the first derivatives are continuous with respect to their arguments

N(s, ξ,t):

An observability matrixS λ:A symmetric positive definite matrix

λ:

Positive number

r s :

Radius of the roller [m]

l s :

Length of the sensor [m]

References

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Authors and Affiliations

  1. Department of Mechanical Eng., College of Eng., Pukyong National University San 100, Yongdang-Dong, Nam-Gu, 608-739, Pusan, Korea

    Tan Lam Chung, Trong Hieu Bui, Sang Bong Kim & Myung Suck Oh

  2. Department of Mechanical Eng., Ho Chi Minh City University of Technology, 268 Ly Thuong Kiet, Dist. 10, Ho Chi Minh City, Vietnam

    Tan Tien Nguyen

Authors
  1. Tan Lam Chung
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  2. Trong Hieu Bui
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  3. Sang Bong Kim
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  4. Myung Suck Oh
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  5. Tan Tien Nguyen
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Correspondence to Tan Lam Chung.

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Chung, T.L., Bui, T.H., Kim, S.B. et al. Wall-following control of a two-wheeled mobile robot. KSME International Journal 18, 1288–1296 (2004). https://doi.org/10.1007/BF02984242

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  • DOI: https://doi.org/10.1007/BF02984242

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