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Control of Mobile Robots: Glue Lectures: Instructor

This document provides an overview of robot models and control design for mobile robots. It discusses two common robot models: (1) a kinematic model describing the robot's position and orientation as functions of its wheel velocities, and (2) a unicycle model describing the robot's motion as a function of its linear and angular velocities. It also discusses translating between different robot models when performing high-level tasks and control design. The document provides an example of calculating wheel velocities from linear and angular velocities. It describes how wheel encoders provide state information and can be used for odometry to estimate the robot's position over time.

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yashar2500
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95 views13 pages

Control of Mobile Robots: Glue Lectures: Instructor

This document provides an overview of robot models and control design for mobile robots. It discusses two common robot models: (1) a kinematic model describing the robot's position and orientation as functions of its wheel velocities, and (2) a unicycle model describing the robot's motion as a function of its linear and angular velocities. It also discusses translating between different robot models when performing high-level tasks and control design. The document provides an example of calculating wheel velocities from linear and angular velocities. It describes how wheel encoders provide state information and can be used for odometry to estimate the robot's position over time.

Uploaded by

yashar2500
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Control of Mobile Robots: Glue Lectures

Instructor:
Smriti Chopra
ECE Ph.D. Candidate
Georgia Tech

Glue Lecture 2: Robot Models



Pay attention, this lecture will help you all with Quiz 2!

Two models for robots



(a)

R
x = (vr + vl ) cos
2
R
y = (vr + vl ) sin
2
= R (vr vl )
L

(b)

x = v cos
y = v sin
=!

In Action

From one robot model to another



B

t = 10s

A

High level task !




x = v cos
y = v sin
=!

From one robot model to another



B

t = 10s

A

High level task !



Control design - v,

!


6

x = v cos
y = v sin
=!

From one robot model to another



B

t = 10s

x = v cos
y = v sin
=!

High level task !





Control design - v,

!


Commands sent to the robots -
vr , vl
7

R
(vr + vl ) cos
2
R
y = (vr + vl ) sin
2
= R (vr vl )
L
x =

2v + !L
2R
2v !L
vl =
2R

vr =

An intuitive example

For inputs v = 0, ! = constant , find the corresponding angular wheel
velocities vr
, vl

2v + !L
2R
2v !L
vl =
2R

vr =

CL
vr =
2R
CL
vl =
2R
8

Back to our musical bot



B

t = 10s

x = v cos
y = v sin
=!

Finding v, ! (and consequently vr , vl ) simple?


No Feedback !!!

Important state information (where is the bot currently)

Wheel encoders

x0 = x + Dc cos
y 0 = y + Dc sin
Dr Dl
0
= +
L
10

Total N ticks per revolution





tick l
D
=
2R
l
N

dt
tick r
N

D

r = 2R

Dr + Dl
D

c =
2

For your general curiosity


11

x0 = x + Dc cos

Dr = Rvr dt

y 0 = y + Dc sin
Dr Dl
0
= +
L

Dl = Rvl dt
x(t + dt) = x(t) + xdt

R
x = (vr + vl )cos
2
R
y = (vr + vl )sin
2
R
= (vr vl )
L

An Odometry example

If my robot starts at the origin (pos and orientation is 0), where is it
located after 0.1s, given that 10 ticks were recorded for the right wheel


and 6 ticks for the left wheel. Wheel radius is 2m, total ticks is 100,
distance between wheels is 4m.

Dl = 2R
Dr = 2R
Dc =
12

tick l
N
tick r
N

Dr + Dl
2

x0 = x + Dc cos

x0 = 1.0053 m

y 0 = y + Dc sin
Dr Dl
0
= +
L

y0 = 0 m
0

= 0.1257 rad

Check the forums, and good luck with Quiz 2!


13

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