Modeling, design and control of low-cost differential-drive robotic ground vehicles: Part I-Single vehicle study

Armando Rodriguez, Karan Puttannaiah, Zhen Yu Lin, Jesus Aldaco, Zhichao Li, Xianglong Lu, Kaustav Mondal, Shubham D. Sonawani, Nikhilesh Ravishankar, Nirangkush Das, Pragyan A. Pradhan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Toward the ambitious long-term goal of a fleet of cooperating Flexible Autonomous Machines operating in an uncertain Environment (FAME), this two part paper addresses several critical modeling, design and control objectives for ground vehicles. One central objective was to show how off-the-shelf (low-cost) remote-control (RC) toy vehicles can be converted into intelligent multi-capability robotic-platforms for conducting FAME research. This was done for 13 differential drive RC vehicles called Thunder Tumbler (DDT2). Each DDT2-vehicle was augmented with a suite of sensor-computing-communication devices in order to provide a substantive suite of capabilities. Part I of this two part paper, focusing on a single vehicle, examines the associated non-holonomic dynamical model (including motor dynamics) for the DDT2 vehicle under consideration. We shed light on how vehicle coupling impacts control design a topic not well addressed within the robotics community. Because our vehicle exhibits little coupling, we are able to use classical decentralized control to design a wheel speed inner-loop controller. This controller is used for all of our outer-loop control modes: (speed-direction) cruise control along a curve, planar Cartesian (x, y) stabilization and minimum-time optimal-control around an oval race track. Empirically collected data is shown to agree well with simulation results. Reasons for observed differences are provided. Within Part II, focus is on control laws for the coordination of multiple vehicles. In short, many capabilities that are critical for reaching the longer-term FAME goal are demonstrated within this two part paper.

Original languageEnglish (US)
Title of host publication1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages155-160
Number of pages6
Volume2017-January
ISBN (Electronic)9781509021826
DOIs
StatePublished - Oct 6 2017
Event1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017 - Kohala Coast, United States
Duration: Aug 27 2017Aug 30 2017

Other

Other1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
CountryUnited States
CityKohala Coast
Period8/27/178/30/17

Fingerprint

Ground vehicles
Robotics
Remote Control
Modeling
Costs
Controller
Planar Curves
Time-optimal Control
Decentralized Control
Nonholonomic
Dynamical Model
Remote control
Cartesian
Control Design
Wheel
Stabilization
Cruise control
Sensor
Controllers
Decentralized control

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Hardware and Architecture
  • Software
  • Control and Systems Engineering

Cite this

Rodriguez, A., Puttannaiah, K., Lin, Z. Y., Aldaco, J., Li, Z., Lu, X., ... Pradhan, P. A. (2017). Modeling, design and control of low-cost differential-drive robotic ground vehicles: Part I-Single vehicle study. In 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017 (Vol. 2017-January, pp. 155-160). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCTA.2017.8062456

Modeling, design and control of low-cost differential-drive robotic ground vehicles : Part I-Single vehicle study. / Rodriguez, Armando; Puttannaiah, Karan; Lin, Zhen Yu; Aldaco, Jesus; Li, Zhichao; Lu, Xianglong; Mondal, Kaustav; Sonawani, Shubham D.; Ravishankar, Nikhilesh; Das, Nirangkush; Pradhan, Pragyan A.

1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017. Vol. 2017-January Institute of Electrical and Electronics Engineers Inc., 2017. p. 155-160.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Rodriguez, A, Puttannaiah, K, Lin, ZY, Aldaco, J, Li, Z, Lu, X, Mondal, K, Sonawani, SD, Ravishankar, N, Das, N & Pradhan, PA 2017, Modeling, design and control of low-cost differential-drive robotic ground vehicles: Part I-Single vehicle study. in 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017. vol. 2017-January, Institute of Electrical and Electronics Engineers Inc., pp. 155-160, 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017, Kohala Coast, United States, 8/27/17. https://doi.org/10.1109/CCTA.2017.8062456
Rodriguez A, Puttannaiah K, Lin ZY, Aldaco J, Li Z, Lu X et al. Modeling, design and control of low-cost differential-drive robotic ground vehicles: Part I-Single vehicle study. In 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017. Vol. 2017-January. Institute of Electrical and Electronics Engineers Inc. 2017. p. 155-160 https://doi.org/10.1109/CCTA.2017.8062456
Rodriguez, Armando ; Puttannaiah, Karan ; Lin, Zhen Yu ; Aldaco, Jesus ; Li, Zhichao ; Lu, Xianglong ; Mondal, Kaustav ; Sonawani, Shubham D. ; Ravishankar, Nikhilesh ; Das, Nirangkush ; Pradhan, Pragyan A. / Modeling, design and control of low-cost differential-drive robotic ground vehicles : Part I-Single vehicle study. 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017. Vol. 2017-January Institute of Electrical and Electronics Engineers Inc., 2017. pp. 155-160
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