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Flatness-based control scheme for hardware-in-the-loop simulations of omnidirectional mobile robot.

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Τίτλος: Flatness-based control scheme for hardware-in-the-loop simulations of omnidirectional mobile robot.
Συγγραφείς: Sahoo, Saumya R, Chiddarwar, Shital S
Πηγή: Simulation; Feb2020, Vol. 96 Issue 2, p169-183, 15p
Θεματικοί όροι: Hardware-in-the-loop simulation, Mobile robots, Bond graphs, Degrees of freedom, Arduino (Microcontroller), Simulation methods & models, Robot programming, Microcontrollers
Περίληψη: Omnidirectional robots offer better maneuverability and a greater degree of freedom over conventional wheel mobile robots. However, the design of their control system remains a challenge. In this study, a real-time simulation system is used to design and develop a hardware-in-the-loop (HIL) simulation platform for an omnidirectional mobile robot using bond graphs and a flatness-based controller. The control input from the simulation model is transferred to the robot hardware through an Arduino microcontroller input board. For feedback to the simulation model, a Kinect-based vision system is used. The developed controller, the Kinect-based vision system, and the HIL configuration are validated in the HIL simulation-based environment. The results confirm that the proposed HIL system can be an efficient tool for verifying the performance of the hardware and simulation designs of flatness-based control systems for omnidirectional mobile robots. [ABSTRACT FROM AUTHOR]
Copyright of Simulation is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Βάση Δεδομένων: Complementary Index
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DbLabel: Complementary Index
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PubType: Academic Journal
PubTypeId: academicJournal
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  Data: Flatness-based control scheme for hardware-in-the-loop simulations of omnidirectional mobile robot.
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  Data: <searchLink fieldCode="AR" term="%22Sahoo%2C+Saumya+R%22">Sahoo, Saumya R</searchLink><br /><searchLink fieldCode="AR" term="%22Chiddarwar%2C+Shital+S%22">Chiddarwar, Shital S</searchLink>
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  Data: Simulation; Feb2020, Vol. 96 Issue 2, p169-183, 15p
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  Data: <searchLink fieldCode="DE" term="%22Hardware-in-the-loop+simulation%22">Hardware-in-the-loop simulation</searchLink><br /><searchLink fieldCode="DE" term="%22Mobile+robots%22">Mobile robots</searchLink><br /><searchLink fieldCode="DE" term="%22Bond+graphs%22">Bond graphs</searchLink><br /><searchLink fieldCode="DE" term="%22Degrees+of+freedom%22">Degrees of freedom</searchLink><br /><searchLink fieldCode="DE" term="%22Arduino+%28Microcontroller%29%22">Arduino (Microcontroller)</searchLink><br /><searchLink fieldCode="DE" term="%22Simulation+methods+%26+models%22">Simulation methods & models</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+programming%22">Robot programming</searchLink><br /><searchLink fieldCode="DE" term="%22Microcontrollers%22">Microcontrollers</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: Omnidirectional robots offer better maneuverability and a greater degree of freedom over conventional wheel mobile robots. However, the design of their control system remains a challenge. In this study, a real-time simulation system is used to design and develop a hardware-in-the-loop (HIL) simulation platform for an omnidirectional mobile robot using bond graphs and a flatness-based controller. The control input from the simulation model is transferred to the robot hardware through an Arduino microcontroller input board. For feedback to the simulation model, a Kinect-based vision system is used. The developed controller, the Kinect-based vision system, and the HIL configuration are validated in the HIL simulation-based environment. The results confirm that the proposed HIL system can be an efficient tool for verifying the performance of the hardware and simulation designs of flatness-based control systems for omnidirectional mobile robots. [ABSTRACT FROM AUTHOR]
– Name: Abstract
  Label:
  Group: Ab
  Data: <i>Copyright of Simulation is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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        Value: 10.1177/0037549719859064
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      – Code: eng
        Text: English
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        PageCount: 15
        StartPage: 169
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      – SubjectFull: Hardware-in-the-loop simulation
        Type: general
      – SubjectFull: Mobile robots
        Type: general
      – SubjectFull: Bond graphs
        Type: general
      – SubjectFull: Degrees of freedom
        Type: general
      – SubjectFull: Arduino (Microcontroller)
        Type: general
      – SubjectFull: Simulation methods & models
        Type: general
      – SubjectFull: Robot programming
        Type: general
      – SubjectFull: Microcontrollers
        Type: general
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      – TitleFull: Flatness-based control scheme for hardware-in-the-loop simulations of omnidirectional mobile robot.
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              Text: Feb2020
              Type: published
              Y: 2020
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