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MR Vehicles

Mobile_Robot_vehicles

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19 views19 pages

MR Vehicles

Mobile_Robot_vehicles

Uploaded by

toobazia20
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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4/25/2016

Mobile Robot Vehicles

Dr. Ali Raza


Dept. of Mechatronics and Control Engineering,
UET Lahore 54890, Pakistan
http://uet.edu.pk/pp/mct/~aliraza/

Mobile Robot Vehicles

GROUND ROBOTS

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Mobile Robots
• Recall:
– Our previous discussion on
• Mobility
• Steerability
• Maneuverability

Car-like Robot

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Car-like Robot
Pose:

Vehicle Velocity in frame {V}

Vehicle Velocity in world frame {O}

Car-like Robot:
Bicycle Approximation

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Car-like Robot:
Bicycle Approximation: Lane Change Experiment

Using the Robotics Toolbox

How to Run a Model of the Toolbox?

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Moving to a Point

Moving to a Point

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Following a Line

Following a Line

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Following a Path A path generally is a locus of points generated by


some motion planner or reactive approach

Following a Path

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Moving to a Pose:

Moving to a Pose:

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Moving to a Pose:

Moving to a Pose:

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Mobile Robot Vehicles

AERIAL ROBOTS

a micro air vehicle (MAV)


Global Hawk unmanned aerial vehicle (UAV)

1 gram co-axial helicopter with


70 mm rotor diameter

a quad-copter, also known as an X4

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Aerial Robots
• Different from ground robots
– 6 DOF
– Configuration:
– Motion models is needed to be dynamic
• Requires forces and torques

• Underwater robots may be similar to aerial


robots with differences in buoyancy and drag
forces and added mass.
• For our subsequent discussion we’ll focus on
quad-rotor (aka quadcopter) only!

• Four rotors, Quad-rotor notation:


• their thrust vectors and
• directions of rotation.
• The body-fixed frame {B} with
its origin at the vehicle’s center
of mass
• Rotors 1 and 3 rotate
counterclockwise
• Rotors 2 and 4 rotate clockwise
(when viewed from above)

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Using Newton’s second law to express translational dynamics of


the vehicle in world coordinates

where
Total upward thrust

Rotor thrust Rotor speed


Lift Constant,

Rolling Torque

Pitching Torque

The torque applied to each propeller by the


motor is opposed by aerodynamic drag
This exerts a reaction torque
on the airframe which acts to
rotate the airframe about the
propeller shaft in the opposite
The total reaction torque about the z- direction to its rotation.
axis is
A yaw torque can be created
simply by appropriate
coordinated control of all four
rotor speeds.

The rotational acceleration of the airframe


is given by Euler’s equation of motion where
J is the vehicles’ inertia matrix,
ω is the angular velocity vector &

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Forward Dynamics
The expressions for T and can be combined together

the forces and moments on the airframe are functions of the


rotor speeds

Inverse Dynamics

b and k depend on:


the air density,
the rotor blade radius,
the number of blades, and
the chord length of the blade

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Controls:
The innermost loop is a PD controller for pitching torque
How to find
Classical control design
approaches based on approx
dynamic model!

Consider a coordinate frame {V} attached to the vehicle and with the
same origin as {B} but with its x- and y-axes parallel to the ground.

To move the vehicle in the direction we pitch the nose down


which generates a force Recall:

which has the component that accelerates the vehicle in the Vx-
direction.

We can control the velocity in this direction with a proportional


control law

Combining these two equations we obtain the pitch angle


required to achieve the desired forward velocity.

The actual vehicle velocity would be estimated by an inertial


navigation system or GPS receiver.

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For a vehicle in vertical equilibrium the total thrust equals


the weight force so

If the position of the vehicle in the xy-plane of the world frame is


then the desired velocity is given by the proportional control law

based on the error between the desired and actual position.

The desired velocity in frame {V}, which is a function of the yaw


angle θy , is

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Summary

• To reach a desired position,


1. compute the appropriate velocity and
2. from that the appropriate pitch angle and
3. from that generates a force to move the vehicle.

• Why is this indirection?


• a consequence of the vehicle being under-actuated
• four rotor speeds and 6-dimensional vehicle’s
configuration space

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Summary

• To move forward:
• the airframe must first pitch down so that the thrust
vector has a horizontal component to accelerate it.
• As it approaches its goal:
• the airframe must be rotated in the opposite direction,
pitching up, so that the backward component of thrust
decelerates the forward motion.
• Finally the airframe rotates to the horizontal with the
thrust vector vertical.

• The pitch angle cannot be arbitrarily set, it is a means


to achieve translation control.

Quadrotor Model of Robotics Toolbox

The output of this block is the state vector

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Feedforward Control of Quadrotor Model

where

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Questions

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