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Dynamics of Differential Drive Wheel...

Montazerijouybari, Mohammadreza,

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Dynamics of Differential Drive Wheel Mobile Robot with Free Caster Wheels /

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Dynamics of Differential Drive Wheel Mobile Robot with Free Caster Wheels // Mohammadreza Montazerijouybari.
作者:	Montazerijouybari, Mohammadreza,
面頁冊數:	1 electronic resource (67 pages)
附註:	Source: Masters Abstracts International, Volume: 85-02.
Contained By:	Masters Abstracts International85-02.
標題:	Friction. -
電子資源:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=30669253
ISBN:	9798379970352

Dynamics of Differential Drive Wheel Mobile Robot with Free Caster Wheels /
Montazerijouybari, Mohammadreza,

Dynamics of Differential Drive Wheel Mobile Robot with Free Caster Wheels /Mohammadreza Montazerijouybari. - 1 electronic resource (67 pages)

Source: Masters Abstracts International, Volume: 85-02.

Automated Guided Vehicles (AGVs) are used in production lines and warehouses to carry merchandises in predetermined paths. However, necessity of using free range AGVs in indoor paths is raising recently. A free range AGV is called Autonomous Mobile Robot (AMR) which has decision making abilities like object avoidance or path planning. For such a robot, the tracking of the planned path, precisely, is more important. One of the most common configuration of AMR consists of two differential drive wheels and caster wheels which offers good stability and maneuverability. On one hand, Caster wheels allow the robot to follow dictated paths of the driving wheels passively while carrying vertical load. On the other hand, caster wheels are the main source of uncertainty which cause increase in path tracking error. Moreover, loading and unloading a robot with an unknown load, but in a predetermined range, changes the robot's Center Of Mass (COM) which cause more path tracking error. In this thesis, we study the behaviour of caster wheels in kinematic level and we proposed a kinematic model to predict its orientation in certain circumstances. Then, the kinematic model and the dynamic model of an AMR with variable COM was considered. The addition of force sensors has been proposed in order to measure the wheel ground interaction forces and to determine the location of COM. Afterwards, some nonlinear control method was used to deal with new kinematic and dynamic models. The performance of the proposed model was tested in simulation environment. The results of the new model compared with an existing model which considers fixed COM without any force feedback. The results have shown significant improvement in performance and a drop in path tracking errors.

English

ISBN: 9798379970352Subjects--Topical Terms:

650299
Friction.

Dynamics of Differential Drive Wheel Mobile Robot with Free Caster Wheels /
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245 1 0 $a Dynamics of Differential Drive Wheel Mobile Robot with Free Caster Wheels / $c Mohammadreza Montazerijouybari.
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300 $a 1 electronic resource (67 pages)
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500 $a Source: Masters Abstracts International, Volume: 85-02.
500 $a Advisors: Baron, Luc; Kelouwani, Sousso.
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520 $a Automated Guided Vehicles (AGVs) are used in production lines and warehouses to carry merchandises in predetermined paths. However, necessity of using free range AGVs in indoor paths is raising recently. A free range AGV is called Autonomous Mobile Robot (AMR) which has decision making abilities like object avoidance or path planning. For such a robot, the tracking of the planned path, precisely, is more important. One of the most common configuration of AMR consists of two differential drive wheels and caster wheels which offers good stability and maneuverability. On one hand, Caster wheels allow the robot to follow dictated paths of the driving wheels passively while carrying vertical load. On the other hand, caster wheels are the main source of uncertainty which cause increase in path tracking error. Moreover, loading and unloading a robot with an unknown load, but in a predetermined range, changes the robot's Center Of Mass (COM) which cause more path tracking error. In this thesis, we study the behaviour of caster wheels in kinematic level and we proposed a kinematic model to predict its orientation in certain circumstances. Then, the kinematic model and the dynamic model of an AMR with variable COM was considered. The addition of force sensors has been proposed in order to measure the wheel ground interaction forces and to determine the location of COM. Afterwards, some nonlinear control method was used to deal with new kinematic and dynamic models. The performance of the proposed model was tested in simulation environment. The results of the new model compared with an existing model which considers fixed COM without any force feedback. The results have shown significant improvement in performance and a drop in path tracking errors.
520 $a Les vehicules a guidage automatique (AGV) sont utilises dans les lignes de production et les entrepots pour transporter des marchandises sur des chemins predetermines. Cependant, la necessite d'utiliser des AGV en libre parcours dans les sentiers interieurs augmente recem- ment. Un AGV a portee libre est appele Robot Mobile Autonome (AMR) qui a des capacites de prise de decision comme l'evitement d'objets ou la planification de trajectoire. Pour un tel robot, le suivi de la trajectoire prevue, precisement, est important. L'une des configurations les plus courantes de l'AMR consiste en deux roues motrices differentielles et des roues pivotantes qui offre une bonne stabilite et maniabilite. D'une part, ces roues augmentent la stabilite du robot en suivant passivement la trajectoire dictee des roues motrices tout en supportant une charge verticale. D'autre part, les rover pivotauto sont la principale source d'incertitude qui entrainent une augmentation de l'erreur de suivi de trajectoire. De plus, le chargement et le dechargement d'un robot avec une charge inconnue, mais dans une plage predeterminee, modifie le centre de masse (COM) du robot, ce qui entrainent davantage d'erreurs de suivi de trajectoire. Dans cette memoire, nous etudions dans un premier temps le comportement des rover pivotauto au niveau cinematique et nous perposons un modele cinematique pour predire son orientation dans certaines circonstances. Ensuite, le modele dynamique d'un AMR avec la variable COM est considere. En outre, la mise en oeuvre de capteurs de force est proposee pour mesurer les forces d'interaction avec le sol des roues et determiner l'emplacement du COM. Par la suite, une methode de controle non lineaire a ete utilisee pour traiter le nouveau modele cinematique et dynamique. Les performances du modele propose ont ete testees dans un environnement de simulation du nouveau modele par rapport a un modele existant qui considere le COM fixe sans aucun retour de force. Les resultats ont montres une amelioration significative des performances et une baisse de l'erreur de suivi de trajectoire.
546 $a English
590 $a School code: 1105
650 4 $a Friction. $3 650299
650 4 $a Inertia. $3 3821807
650 4 $a Kinematics. $3 571109
650 4 $a Controllers. $3 3559217
650 4 $a Robots. $3 529507
650 4 $a Wheels. $3 644675
650 4 $a Fuzzy logic. $3 532071
650 4 $a Vehicles. $3 2145288
650 4 $a Mechanical engineering. $3 649730
650 4 $a Robotics. $3 519753
690 $a 0771
690 $a 0548
710 2 $a Ecole Polytechnique, Montreal (Canada). $e degree granting institution. $3 3821806
720 1 $a Baron, Luc $e degree supervisor.
720 1 $a Kelouwani, Sousso $e degree supervisor.
773 0 $t Masters Abstracts International $g 85-02.
790 $a 1105
791 $a M.A.Sc.
792 $a 2022
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=30669253