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Module 2 Slides

The document discusses a lecture on controlling mobile robots. It introduces different models for mobile robots like differential drive robots. It discusses sensors like range sensors that robots use to perceive the environment. The lecture presents the concept of behavior-based robotics, where robots switch between simple controller behaviors like go-to-goal and avoid obstacles in response to the environment. It also introduces a robot simulator called GRITS that can be used to test control algorithms.

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yashar2500
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352 views

Module 2 Slides

The document discusses a lecture on controlling mobile robots. It introduces different models for mobile robots like differential drive robots. It discusses sensors like range sensors that robots use to perceive the environment. The lecture presents the concept of behavior-based robotics, where robots switch between simple controller behaviors like go-to-goal and avoid obstacles in response to the environment. It also introduces a robot simulator called GRITS that can be used to test control algorithms.

Uploaded by

yashar2500
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Control of

Mobile Robots
Dr. Magnus Egerstedt
Professor
School of Electrical and
Computer Engineering

Module 2
Mobile Robots

How make mobile robots move in effective, safe,


predictable, and collaborative ways using modern
control theory?

School of Electrical and Computer Engineering

Lecture 2.1 Driving Robots Around?


What does it take to drive a robot from point A to point B?

?
sensors

controller
robot model

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.1.1

Divide and Conquer


The world is dynamic and fundamentally unknown
The controller must be able to respond to environmental
conditions
Instead of building one complicated controller divide and
conquer: Behaviors
Go-to-goal
Avoid-obstacles
Follow-wall
Track-target

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.1.2

Behaviors

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.1.3

Behaviors

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.1.4

Lecture 2.2 Differential Drive Robots


In order to control mobile robots, we need models
Differential drive wheeled robots a very common type

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.2.1

Model 1.0
vr

(x, y)
L

x =

y =

R
2 (vr

+ v ) cos

R
2 (vr

+ v ) sin

R
L (vr

v )

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.2.2

The Unicycle Model


But it is not very natural to think in terms of wheel velocities
Go directly for translational and angular velocities
Inputs:

(x, y)

Dynamics:

x = v cos
y = v sin

=

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.2.3

Model 2.0

x = v cos
y = v sin

=

Design for this model!

x =

y =

R
2v
v = (vr + v )
= vr + v
2
R
R
L
= (vr v )
= vr v
L
R

R
2 (vr

+ v ) cos

R
2 (vr

+ v ) sin

R
L (vr

v )

2v + L
vr =
2R
2v L
v =
2R

Implement this model!

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.2.4

Lecture 2.3 Odometry


The state of the robot is (x, y, )
How do we obtain this state information?
Two possibilities:
External sensors
Internal sensors
Orientation: Compass,
Position: Accelerometers, Gyroscopes,
Wheel Encoders

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.3.1

Wheel Encoders
Wheel encoders give the distance moved by each wheel
Assume the wheels are following an arc (short time scale)
Dr
Dc

D + Dr
Dc =
2

D!

x = x + Dc cos()
y = y + Dc sin()
Dr D

=+
L
Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.3.2

Wheel Encoders
But how do we know how far each wheel has moved?
Dr
Dc
D!

For both wheels:

Assume each wheel has N


ticks per revolution
Most wheel encoders give the
total tick count since the
beginning

tick = tick tick


tick
D = 2R
N

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.3.3

A Major Disclaimer

DRIFT!!!

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.3.4

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.3.5

Lecture 2.4 Sensors


Robots need to know what the world around them looks like
The standard sensor suite includes a skirt of range sensors:
IR, Ultra-Sound, LIDAR,
Other standard external sensors include
Vision
Tactile
GPS

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.4.1

Range-Sensor Skirts
We will mainly deal with range-sensors

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.4.2

The Disk Abstraction


Instead of worrying about the resolution of the sensors, assume
we know the distance and direction to all obstacles around us
(that are close enough)

(d2 , 2 )

Angles are relative to


the robots heading

(d1 , 1 )

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.4.3

The Disk Abstraction


Instead of worrying about the resolution of the sensors, assume
we know the distance and direction to all obstacles around us
(that are close enough)

(d2 , 2 )

If we know our own pose


(position and orientation):

(d1 , 1 )

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

x1 = x + d1 cos(1 + )
y1 = y + d1 sin(1 + )

2.4.3

Example: Rendezvous

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.4.4

Example: Rendezvous

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.4.4

Lecture 2.5 Behavior-Based Robotics


The world is fundamentally
unknown and changing
Does not make sense to over-plan
Key idea: Develop a library of
useful controllers (=behaviors)
Switch among controllers in
response to environmental
changes

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.5.1

Building a Behavior v.1


Assume we have a differential-drive, wheeled mobile robot
driving at a constant speed

x = v0 cos
y = v0 sin

=

Want to drive in a desired heading

=???

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.5.2

Building a Behavior v.1


We have a reference, a model, a control input, and a tracking
error:

r = d , e = d , =

We not use PID?

= KP e + KI

ed + KD e

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.5.3

Dealing with Angles


This typically will not work since we are dealing with angles:

d = 0, = 100 e = 100
Solution: Ensure that e [, ]
Standard trick is to use atan2!

e = atan2(sin(e), cos(e)) [, ]

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.5.4

Example: Navigation
Problem: Go to a goal location without bumping in to
obstacles:

?
At a minimum, we need two behaviors: Go-to-goal and Avoidobstacles!

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.5.5

Lecture 2.6 Go-To-Goal


How drive a robot to a goal location?

x = v0 cos
y = v0 sin

=
(xg , yg )

d = arctan
(x, y)

e = d , = PID(e)

yg y
xg x

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.6.1

Attempt 1
= K(d )

ANGLES!!!

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.6.2

Attempt 2
= K(d )

GAIN TOO LOW!!!

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.6.3

Attempt 3
= Kbig (d )

JUST RIGHT!!!

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.6.4

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.6.5

Lecture 2.7 The GRITS Robot Simulator


A MATLAB-based
simulator
Simulates Khepera III
differential drive mobile
robot(-s) with IR rangesensors and wheel-encoders
in cluttered environments
Available at
http://gritslab.gatech.edu/projects/robot-simulator/
as stand-alone executable and MATLAB package
Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.7.1

Lecture 2.8 Obstacle-Avoidance


How avoid driving into obstacles?
We can use the same idea by defining a desired heading

(xo , yo )
(x, y)

There is no obvious
correct answer

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.8.1

Where to Go?
Choice depends on direction to goal.
Not pure but blended

2 = obst
2

3 = goal
Pure go-to-goal

4 = F (obst , goal )
1 = obst +

Blended

This is pure avoidance

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.8.2

Arbitration Mechanisms
This example illustrate two fundamentally different
arbitration mechanisms
Winner takes all = Hard switches
Blending = Combined behaviors
Both approaches have merit in different situations
Performance?
Analysis?
We will see how to design systematic behaviors and
arbitration mechanisms

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.8.3

Module 2: Mobile Robots


Module 2: Mobile robots
Module 3: Enough chit-chat! Lets start over in a more
systematic and formal manner!
Linear Systems

Magnus Egerstedt, Control of Mobile Robots, Georgia Ins<tute of Technology

2.8.4

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