TY - JOUR
T1 - Control strategy for navigation of a reconnaissance robotic system
AU - Welikala, Shirantha
AU - Liyanage, Dananjaya
AU - Abeysekara, Anuradha D.
AU - Ekanayake, Mervyn Parakrama B.
AU - Godaliyadda, Roshan Indika
AU - Wijayakulasooriya, Janaka V.
PY - 2016/9/13
Y1 - 2016/9/13
N2 - This paper proposes a computationally efficient, novel and superior nonlinear controller to the existing trajectory and orientation (T&O) control problem of an omnidirectional robot (ODR). Here first, the position and orientation (pose) estimation of the robot were obtained utilizing kinematic relationships of the ODR and multi-sensor fusion techniques. Then, dynamic relationships of the robot were used to form its state-space representation. The nonlinear state-space representation (NLSSR) was linearized by identifying and controlling the nonlinearity causing states. Then that linearized NLSSR was utilized to derive a state feedback controller and a proportional derivative integral (PID) controller to carry out a T&O tracking task. Performances of both derived controllers were evaluated in the simulation level comparing with a standard nonlinear controller. From the two proposed controllers, the best-performing, state feedback-based controller was able to be successfully implemented on a low-cost hardware platform due to its computational efficiency.
AB - This paper proposes a computationally efficient, novel and superior nonlinear controller to the existing trajectory and orientation (T&O) control problem of an omnidirectional robot (ODR). Here first, the position and orientation (pose) estimation of the robot were obtained utilizing kinematic relationships of the ODR and multi-sensor fusion techniques. Then, dynamic relationships of the robot were used to form its state-space representation. The nonlinear state-space representation (NLSSR) was linearized by identifying and controlling the nonlinearity causing states. Then that linearized NLSSR was utilized to derive a state feedback controller and a proportional derivative integral (PID) controller to carry out a T&O tracking task. Performances of both derived controllers were evaluated in the simulation level comparing with a standard nonlinear controller. From the two proposed controllers, the best-performing, state feedback-based controller was able to be successfully implemented on a low-cost hardware platform due to its computational efficiency.
KW - Control
KW - Dynamics
KW - Linearization
KW - Nonlinear
KW - Omnidirectional
KW - Robotics
UR - http://www.scopus.com/inward/record.url?scp=84988521363&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84988521363&partnerID=8YFLogxK
U2 - 10.2316/Journal.2016.3.201-2761
DO - 10.2316/Journal.2016.3.201-2761
M3 - Article
AN - SCOPUS:84988521363
SN - 1480-1752
VL - 44
SP - 121
EP - 129
JO - Control and Intelligent Systems
JF - Control and Intelligent Systems
IS - 3
ER -