TY - GEN
T1 - Modeling, design and control of low-cost differential-drive robotic ground vehicles
T2 - 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
AU - Rodriguez, Armando
AU - Puttannaiah, Karan
AU - Lin, Zhen Yu
AU - Aldaco, Jesus
AU - Li, Zhichao
AU - Lu, Xianglong
AU - Mondal, Kaustav
AU - Sonawani, Shubham D.
AU - Ravishankar, Nikhilesh
AU - Das, Nirangkush
AU - Pradhan, Pragyan A.
N1 - Funding Information:
Dr.A.A.Rodriguez is a Prof. in School of Elect., Computer & Energy Eng. (ECEE), Arizona State University (ASU), Tempe, AZ, aar@asu.edu; K.Puttannaiah, K.Mondal are Ph.D. students in ECEE, ASU; S.D.Sonawani, N.Ravishankar, N.Das, P.A.Pradhan are MS students in ECEE, ASU; Z.Lin is Ph.D student in Dept. of Elect. Eng., Univ. Maryland; J.Aldaco is with Delphi, IN. Z.Li is a Ph.D. student in Mech. & Aerospace Eng., Univ. of California, San Diego; X.Lu is with Changan US R&D Center, MI. This work has been supported, in part, by NSF Grant No. 1565177. Any opinion, findings, and conclusions or recommendations expressed in this material are those of the authors(s) and do not necessarily reflect the views of the NSF.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/10/6
Y1 - 2017/10/6
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85047610178&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85047610178&partnerID=8YFLogxK
U2 - 10.1109/CCTA.2017.8062456
DO - 10.1109/CCTA.2017.8062456
M3 - Conference contribution
AN - SCOPUS:85047610178
T3 - 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
SP - 155
EP - 160
BT - 1st Annual IEEE Conference on Control Technology and Applications, CCTA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 27 August 2017 through 30 August 2017
ER -