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Dynamics modeling of four-wheeled mobile robot and tracking control of its motion with limitation of wheels slip

2011/03/B/ST7/02532

Keywords

Descriptors

  • ST7_10: Robotyka
  • ST7_3: Inżynieria symulacji i modelowania
  • ST7_1: Inżynieria sterowania

Panel

ST7 – Systems and communication engineering: electronics, communication, optoelectronics

Host institution

Przemysłowy Instytut Automatyki i Pomiarów PIAP

Voivodeship: mazowieckie

Other projects carried out by the institution »

Principal investigator (from the host institution)

dr hab. Maciej Tomasz Trojnacki

Number of co-investigators in the project: 18

Call

OPUS 2 – announced on 2011-09-15

Amount awarded
797 030 PLN
Project start date
2012-09-06
Project end date
2015-07-05
Project duration
34 months (the same as in the proposal)
Project status
Project settled

Equipment purchased [PL]

  1. komputer przenośny (laptop) wraz z niezbędnym oprogramowaniem. Cost: 26 000 PLN
  2. monitor.
  3. multimetr.
  4. skaner laserowy.
  5. stacja lutownicza.
  6. urządzenie wielofunkcyjne.

Information in the final report

Publication in academic press/journals (15)

  1. Modelowanie nietypowej opony robota mobilnego SCOUT z zastosowaniem systemów CAx

    Authors:
    Łukasz Wilk, Maciej Trojnacki, Przemysław Dąbek, Maciej Cader
    Academic press:
    Mechanik (year: 2014, volume: Nr 2, pages: 1-8 (dodatek na CD)), Publisher: Redakcja Mechanik Agenda Wydawnicza SIMP
    Status:
    Published
    DOI:
    link to the publication

  2. Badania symulacyjne i doświadczalne ruchu robota kołowego SCOUT podczas manewru zakręcania

    Authors:
    Maciej Trojnacki, Przemysław Dąbek
    Academic press:
    Mechanik (year: 2014, volume: Nr 2, pages: 1-15 (dodatek na CD)), Publisher: Redakcja Mechanik Agenda Wydawnicza SIMP
    Status:
    Published
    DOI:
    link to the publication

  3. Model based energy efficient global path planning of a four-wheeled mobile robot

    Authors:
    Piotr Jaroszek, Maciej Trojnacki
    Academic press:
    Control and Cybernetics (year: 2014, volume: Vol. 43, No. 2, pages: 337-363), Publisher: Instytut Badań Systemowych Polskiej Akademii Nauk
    Status:
    Published

  4. Localization of the wheeled mobile robot based on multi-sensor data fusion

    Authors:
    Piotr Jaroszek, Maciej Trojnacki
    Academic press:
    Journal of Automation, Mobile Robotics & Intelligent Systems (year: 2015, volume: Vol. 9, No. 3, pages: 73-84), Publisher: Przemysłowy Instytut Automatyki i Pomiarów PIAP
    Status:
    Published
    DOI:
    10.14313/JAMRIS_3-2015/26 – link to the publication

  5. Neural Network Identifier of a Four-Wheeled Mobile Robot Subject to Wheel Slip

    Authors:
    Zenon Hendzel, Maciej Trojnacki
    Academic press:
    Journal of Automation, Mobile Robotics & Intelligent Systems (year: 2014, volume: Vol. 8, No. 4, pages: 24-30), Publisher: Przemysłowy Instytut Automatyki i Pomiarów PIAP
    Status:
    Published
    DOI:
    10.14313/JAMRIS_4-2014 – link to the publication

  6. Metody tworzenia modeli dynamiki mobilnych robotów kołowych

    Authors:
    Maciej Trojnacki
    Academic press:
    Modelowanie Inżynierskie (year: 2013, volume: tom 17, z. 48, pages: 150-161), Publisher: Politechnika Śląska Wydział Mechaniczny Technologiczny
    Status:
    Published
    DOI:
    link to the publication

  7. Evaluation of low-cost MEMS accelerometers for measurements of velocity of unmanned vehicles

    Authors:
    Przemysław Dąbek
    Academic press:
    Pomiary Automatyka Robotyka (year: 2013, volume: Nr 2013(1), pages: 102-113), Publisher: PIAP
    Status:
    Published
    DOI:
    link to the publication

  8. Analiza wpływu charakterystyk prędkości zadanej na ruch wzdłużny robota mobilnego

    Authors:
    Maciej Trojnacki
    Academic press:
    Mechanik (year: 2013, volume: Nr 7, pages: 771-782), Publisher: Redakcja Mechanik Agenda Wydawnicza SIMP
    Status:
    Published

  9. Analysis of Influence of Drive System Configurations of a Four Wheeled Robot on its Mobility

    Authors:
    Maciej Trojnacki
    Academic press:
    Journal of Automation, Mobile Robotics & Intelligent Systems (year: 2012, volume: Vol. 6, No. 4, pages: 65-70), Publisher: Przemysłowy Instytut Automatyki i Pomiarów PIAP
    Status:
    Published
    DOI:
    link to the publication

  10. Badania symulacyjne i doświadczalne ruchu wzdłużnego robota czterokołowego na piasku

    Authors:
    Maciej Trojnacki, Przemysław Dąbek
    Academic press:
    Mechanik (year: 2016, volume: Nr 10, pages: 1282-1284), Publisher: Redakcja Mechanik Agenda Wydawnicza SIMP
    Status:
    Published
    DOI:
    10.17814/mechanik.2016.10.449 – link to the publication

  11. Comparative Analysis of Posture Controllers for Tracking Control of a Four-Wheeled Skid-Steered Mobile Robot in Case of Non-Zero Initial Position and Course Errors

    Authors:
    Maciej Trojnacki, Przemysław Dąbek
    Academic press:
    International Journal of Scientific & Engineering Research (year: 2015, volume: Vol. 6,Issue 10, pages: 542-552), Publisher: IJSER PUBLSIHING
    Status:
    Published

  12. Układ mechaniczny do wyznaczania sił i momentów sił przenoszonych przez koło jezdne robota mobilnego podczas jego ruchu

    Authors:
    Maciej Trojnacki, Łukasz Kajder
    Academic press:
    Mechanik (year: 2015, volume: 7, pages: 873-884), Publisher: Redakcja Mechanik Agenda Wydawnicza SIMP
    Status:
    Published
    DOI:
    10.17814/mechanik.2015.7.308 – link to the publication

  13. Mobilne roboty lądowe w transporcie

    Authors:
    Maciej Trojnacki
    Academic press:
    Logistyka (year: 2015, volume: 4, pages: 6273-6283), Publisher: Instytut Logistyki i Magazynowania
    Status:
    Published

  14. Adaptive Fuzzy Control of a Four-Wheeled Mobile Robot Subject to Wheel Slip

    Authors:
    Zenon Hendzel, Maciej Trojnacki
    Status:
    Accepted for publication

  15. Studies of dynamics of a lightweight wheeled mobile robot during longitudinal motion on soft ground

    Authors:
    Maciej Trojnacki, Przemysław Dąbek
    Status:
    Accepted for publication

Book publications / chapters in book publications (12)

  1. Determination of Motion Parameters with Inertial Measurement Units. Part 1: Mathematical Formulation of the Algorithm

    Authors:
    Maciej Trojnacki, Przemysław Dąbek
    Book:
    Mechatronics: Ideas for Industrial Applications (year: 2015, volume: Vol. 317, pages: 239-251), Publisher: Springer (seria wydawnicza: Advances in Intelligent Systems and Computing)
    Status:
    Published

  2. -

    Authors:
    Maciej Trojnacki
    Book:
    Modelowanie dynamiki mobilnych robotów kołowych (year: 2013, volume: -, pages: 260), Publisher: Oficyna Wydawnicza PIAP
    Status:
    Published

  3. Motion Stabilization System of a Four-Wheeled Mobile Robot for Teleoperation Mode. Experimental investigations in indoor environment

    Authors:
    Maciej Trojnacki, Przemysław Dąbek, Janusz Kacprzyk, Zenon Hendzel
    Book:
    IEEE Intelligent Systems IS'14 (year: 2014, volume: Vol. 323, pages: 117-128), Publisher: Springer (seria wydawnicza: Advances in Intelligent Systems and Computing)
    Status:
    Published

  4. Neural Network Control of a Four-Wheeled Mobile Robot Subject to Wheel Slip

    Authors:
    Zenon Hendzel, Maciej Trojnacki
    Book:
    Mechatronics: Ideas for Industrial Applications (year: 2015, volume: Vol. 317, pages: 187-201), Publisher: Springer (seria wydawnicza: Advances in Intelligent Systems and Computing)
    Status:
    Published

  5. Trajectory Tracking Control of a Four-Wheeled Mobile Robot with Yaw Rate Linear Controller

    Authors:
    Maciej Trojnacki, Przemysław Dąbek, Janusz Kacprzyk, Zenon Hendzel
    Book:
    Recent Advances in Automation, Robotics and Measuring Techniques (year: 2014, volume: Vol. 267, pages: 507-521), Publisher: Springer (seria wydawnicza: Advances in Intelligent Systems and Computing)
    Status:
    Published

  6. Dynamics Model of a Four-Wheeled Mobile Robot for Control Applications – a Three-Case Study

    Authors:
    Maciej Trojnacki
    Book:
    IEEE Intelligent Systems IS'14 (year: 2014, volume: Vol. 323, pages: 99-116), Publisher: Springer (seria wydawnicza: Advances in Intelligent Systems and Computing)
    Status:
    Published

  7. Comparative Analysis of Posture Controllers for Tracking Control of a Four-Wheeled Skid-Steered Mobile Robot – Part 2. Dynamics Model of the Robot and Simulation Research of Posture Controllers.

    Authors:
    Maciej Trojnacki, Przemysław Dąbek, Janusz Kacprzyk, Zenon Hendzel
    Book:
    Advanced Mechatronics Solutions/11th International Conference Mechatronics 2015 (year: 2016, volume: 393, pages: 605-620), Publisher: Springer (seria wydawnicza: Advances in Intelligent Systems and Computing)
    Status:
    Published

  8. Determination of Motion Parameters with Inertial Measurement Units. Part 2: Algorithm Verification with a Four-Wheeled Mobile Robot and Low-Cost MEMS Sensors

    Authors:
    Maciej Trojnacki, Przemysław Dąbek
    Book:
    Mechatronics: Ideas for Industrial Applications (year: 2015, volume: Vol. 317, pages: 253-267), Publisher: Springer (seria wydawnicza: Advances in Intelligent Systems and Computing)
    Status:
    Published

  9. Comparative Analysis of Posture Controllers for Tracking Control of a Four-Wheeled Skid-Steered Mobile Robot – Part 1. Theoretical Considerations.

    Authors:
    Maciej Trojnacki, Przemysław Dąbek, Janusz Kacprzyk, Zenon Hendzel
    Book:
    Advanced Mechatronics Solutions/11th International Conference Mechatronics 2015 (year: 2016, volume: Vol. 393, pages: 583-604), Publisher: Springer (seria wydawnicza: Advances in Intelligent Systems and Computing)
    Status:
    Published

  10. Determination of Forces and Moments of Force Transmitted by the Wheel of a Mobile Robot during Motion

    Authors:
    Maciej Trojnacki
    Book:
    Mechatronics: Ideas, challenges, solutions and applications (year: 2016, volume: 414, pages: 205-217), Publisher: Springer (seria wydawnicza: Advances in Intelligent Systems and Computing)
    Status:
    Published

  11. Requirements for Tire Models of the Lightweight Wheeled Mobile Robots

    Authors:
    Przemysław Dąbek, Maciej Trojnacki
    Book:
    Mechatronics: Ideas, challenges, solutions and applications (year: 2016, volume: Vol. 414, pages: 33-51), Publisher: Springer (seria wydawnicza: Advances in Intelligent Systems and Computing)
    Status:
    Published

  12. Tire models for studies of wheeled mobile robot dynamics on rigid grounds – a quantitative analysis for longitudinal motion

    Authors:
    Przemysław Dąbek, Maciej Trojnacki
    Book:
    Recent Advances in Systems, Control and Information Technology: Proceedings of the International Conference Systems, Control and Information Technology SCIT 2016 (year: 2016, volume: -, pages: -), Publisher: Springer (seria wydawnicza: Advances in Intelligent Systems and Computing)
    Status:
    Accepted for publication

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Graphic design and implementation: Jakub Piotrowski