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Slide 3 Wheel Robot

The document describes a three-wheel mobile robot that can track trajectories. It discusses the target and requirements, operating principle, block diagram, control algorithms using PID and feedback, and kinematic model involving differential drive and an omnidirectional wheel.

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nguyenthebach.9h
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17 views16 pages

Slide 3 Wheel Robot

The document describes a three-wheel mobile robot that can track trajectories. It discusses the target and requirements, operating principle, block diagram, control algorithms using PID and feedback, and kinematic model involving differential drive and an omnidirectional wheel.

Uploaded by

nguyenthebach.9h
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 16

Group 4:

Three-wheel mobile
robot: Trajectory
tracking
1. Target, requirement
2. Operating principle
3. Block diagram
4. Control algorithm
5. Kinematic model

2
1. Target and requirement

 Target:
A robot that has three-wheel can do some following function
- Go through a routine has been set up by application (code, no path direction)
- Follow the path has been mark on the ground (by black or colored tape)
- Find the way between 2 points on the ground.

Differential steered wheel Omnidirectional wheel

3
2. Operating principle

There are some fundamental principles regarding how vehicles


operate:
1. Wheel velocity control:
- Three wheels are typically strategically placed on the robot to
generate motions within the plane. Controlling the velocity of each
wheel allows the robot to move in the desired direction and trajectory.

2. Power distribution:
- When the robot needs to move along a specific curve or trajectory,
power is distributed appropriately among the wheels to ensure that the
robot follows that curve.

4
2. Operating principle

3. Balance and stability:


- The three wheels are typically arranged in a manner that allows the
robot to maintain balance and stability during movement.

5
2. Operating principle

4. Control methods:
- There are several methods to control the movement of a three-wheeled
mobile robot, including PID (Proportional-Integral-Derivative) control,
vector control, or more sophisticated methods such as machine
learning-based control.
5. Trajectory planning and tracking:
- The robot needs to be capable of planning and tracking trajectories to
move from one point to another accurately. This may involve using
algorithms such as optimal control algorithms or pathfinding
algorithms.

6
3. Block diagram

1. Trajectory Tracking:
- This section represents the goal of the project, which is to track and control the robot's movement
along the specified trajectory.
2. Sensor Data Processing:
- This is the data processing step from sensors that can be used to determine the current position of the
robot and other environmental information
3. Control Algorithm:
- This step applies control algorithms, including PID methods or other techniques, to calculate control
signals for the robot's wheels.
4. Motor Speed Control:
- The final part is controlling the speed of the wheel motors based on the control signals generated from
the control algorithm, thereby adjusting the speed and direction of the robot's movement.

7
4. Control algorithm:

1. Feedback Control
•Real-time feedback from sensors is essential for accurate trajectory tracking.
Encoders on the wheels provide information about wheel speeds, which is
used to estimate the robot's velocity and position. Additional sensors may be
used to measure orientation and other relevant parameters. Feedback control
algorithms adjust the wheel speeds based on the difference between the
desired trajectory and the actual robot state.
•There are 3 main subsystem working in the low-level control of the robot:
- Velocity control
- Steer control
- Trajectory control

8
4. Control algorithm:

a, Velocity control:

9
4. Control algorithm:

b, Steer control:

10
4. Control algorithm:

c, Trajectory control:

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4. Control algorithm:

2. PID control:
Here is how the PID control method is applied in controlling the three-wheel
robot:
a) Proportional (P): The proportional control signal (P) will help the robot move
faster when approaching the target position.
b) Integral (I): The integral control signal (I) helps minimize steady-state error
and ensures that the robot reaches the target position more accurately.
c) Derivative (D): The derivative of the error can help predict and stabilize the
robot's motion.
=> Combining the three components P, I, and D together, we obtain the overall
control signal calculated by summing the individual contributions of P, I, and D.
The proportional constant (Kp), integral constant (Ki), and derivative constant
(Kd) are adjusted to achieve the desired control performance through tuning or
automatic tuning processes.

12
5. Kinematic Model

• To track a trajectory, the robot must follow a specific path defined by a


sequence of waypoints or a continuous trajectory function. The
kinematic model of the robot describes how its wheel speeds correspond
to its linear and angular velocities. By computing the required wheel
speeds based on the desired trajectory, the robot can accurately track the
path.

13
5. Kinematic Model

1. Differential Drive System


The two wheels at the base of the triangular configuration are responsible for
driving the robot forward and backward. By controlling the speeds of these two
wheels independently, the robot can achieve different motion behaviors, including
straight-line motion and turning on the spot. This differential drive system is
commonly controlled using motor controllers and feedback from encoders or other
sensors.

14
5. Kinematic Model

2. Omnidirectional Wheel
• The omnidirectional wheel at the apex of the triangular configuration
provides additional degrees of freedom to the robot's motion. This wheel
can move freely in any direction, allowing the robot to execute lateral
movements and rotate about its vertical axis without changing its position.
Control of the omnidirectional wheel is typically achieved using a separate
motor and controller

15
THANK
YOU !

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