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Adaptive Polar-Space Motion Control for Embedded Omnidirectional Mobile Robots with Parameter Variations and Uncertainties

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Abstract

This paper presents an adaptive polar-space motion controller for trajectory tracking and stabilization of a three-wheeled, embedded omnidirectional mobile robot with parameter variations and uncertainties caused by friction, slip and payloads. With the derived dynamic model in polar coordinates, an adaptive motion controller is synthesized via the adaptive backstepping approach. This proposed polar-space robust adaptive motion controller was implemented into an embedded processor using a field-programmable gate array (FPGA) chip. Furthermore, the embedded adaptive motion controller works with a reusable user IP (Intellectual Property) core library and an embedded real-time operating system (RTOS) in the same chip to steer the mobile robot to track the desired trajectory by using hardware/software co-design technique and SoPC (system-on-a-programmable-chip) technology. Simulation results are conducted to show the merit of the proposed polar-space control method in comparison with a conventional proportional-integral (PI) feedback controller and a non-adaptive polar-space kinematic controller. Finally, the effectiveness and performance of the proposed embedded adaptive motion controller are exemplified by conducting several experiments on steering an embedded omnidirectional mobile robot.

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Authors and Affiliations

  1. Department of Computer Science and Information Engineering, Hungkuang University, 34 Chung-Chie Road, Shalu, Taichung, 433, Taiwan

    Hsu-Chih Huang

  2. Department of Electrical Engineering, National Chung Hsing University, 250, Kuo-Kuang Road, Taichung, 402, Taiwan

    Ching-Chih Tsai

  3. Department of Electronic Engineering, National Chin-Yi University of Technology, 35, Lane 215, Sec. 1, Chung-Shan Road, Taiping, Taichung, 411, Taiwan

    Shui-Chun Lin

Authors
  1. Hsu-Chih Huang
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  2. Ching-Chih Tsai
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  3. Shui-Chun Lin
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Correspondence to Ching-Chih Tsai.

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Huang, HC., Tsai, CC. & Lin, SC. Adaptive Polar-Space Motion Control for Embedded Omnidirectional Mobile Robots with Parameter Variations and Uncertainties. J Intell Robot Syst 62, 81–102 (2011). https://doi.org/10.1007/s10846-010-9438-3

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  • DOI: https://doi.org/10.1007/s10846-010-9438-3

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