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An important issue in the field of motion control of wheeled mobile robots is that the design of most controllers is based only on the robot’s kinematics. However, when high-speed movements and/or heavy load transportation are required, it becomes essential to consider the robot dynamics as well. The control signals generated by most dynamic controllers reported in the literature are torques or voltages for the robot motors, while commercial robots usually accept velocity commands. In this context, we present a velocity-based dynamic model for differential drive mobile robots that also includes the dynamics of the robot actuators. Such model has linear and angular velocities as inputs and has been included in Peter Corke’s Robotics Toolbox for MATLAB, therefore it can be easily integrated into simulation systems that have been built for the unicycle kinematics. We demonstrate that the proposed dynamic model has useful mathematical properties. We also present an application of such model on the design of an adaptive dynamic controller and the stability analysis of the complete system, while applying the proposed model properties. Finally, we show some simulation and experimental results and discuss the advantages and limitations of the proposed model.
Dit essay geeft een systeemvisie op het ontwikkelen van embedded software voor slimme systemen: (mobiele) robots en sensornetwerken.
The estimation of the pose of a differential drive mobile robot from noisy odometer, compass and beacon distance measurements is studied. The estimation problem, which is a state estimation problem with unknown input, is reformulated into a state estimation problem with known input and a process noise term. A heuristic sensor fusion algorithm solving this state-estimation problem is proposed and compared with the extended Kalman filter solution and the Particle Filter solution in a simulation experiment. https://doi.org/10.4018/IJAIML.2020010101 https://www.linkedin.com/in/john-bolte-0856134/
Even though considerable amounts of valuable wood are collected at waste collection sites, most of it remains unused and is burned: it is too labor-intensive to sort, process and upcycle useable parts. Valuable wood thus becomes worthless waste, against circular economy principles. In MoBot-Wood, waste collection organizations HVC and the municipality of Amsterdam, together with Rolan Robotics, Metabolic and AUAS investigate how waste wood can be sorted and processed at waste collection sites, using an easy-to-deploy robotic solution. In various preceding and on-going projects, AUAS and partners are exploring circular wood intake, sorting and processing using industrial robots, including processes like machine vision, 3D scanning, sawing, and milling. These projects show that harvesting waste wood is a challenging matter. Generally, the wood is only partially useable due to the presence of metal, excessive paint, deterioration by fungi and water, or other contamination and damages. To harvest useable wood thus requires intensive sorting and processing. The solution of transporting all the waste wood from collection sites to a central processing station might be too expensive and have a negative environmental impact. Considering that much of collected wood will need to be discarded, often no wood is harvested at all, due to the costs for collection and shipping. Speaking with several partners in related projects, the idea emerged to develop a mobile robotic station, which can be (temporarily) deployed at waste collection sites, to intake, sort and process wood for upcycling. In MoBot-Wood, research entails the design of such station, its deployment conditions, and a general assessment of its potential impact. The project investigates robotic sorting and processing on location as a new approach to increase the amount of valuable, useable wood harvested at waste collection sites, by avoiding material transport and reducing the volume of remaining waste.