Идентификация коэффициента трения для управляемой колесной системы типа Roller Racer на основе экспериментальных данных

K S Yefremov

doi:10.22213/2410-9304-2022-4-98-105

Authors

K. S. Yefremov Kalashnikov ISTU

DOI:

https://doi.org/10.22213/2410-9304-2022-4-98-105

Keywords:

Roller Racer, coefficient of viscous friction of the wheel, experimental evaluation of system parameters, controlled wheel system

Abstract

The work studies the motion of the controlled wheel system to provide coordination of mathematical model de-scribing its motion and the experiment. The obtained results allow improving the accuracy of the mobile robot trajectory following. A mobile wheel system with a drive articulated frame and freely rotating wheels (Roller Racer) was chosen as the research object of the work. The paper presents a structural diagram of the research object, a mathematical model describing its motion with design constraints. The coordination of the motion model with experimental studies is provided by the identification of Roller Racer parameters. Identification of Roller Racer parameters is carried out due to the developed method of the controlled wheel system parameters identification. The proposed method of controlled wheel system identification allows determining the geometric and dynamic parameters of Roller Racer, which are considered in the motion model of the controlled wheel system. The results of the experimental trajectories captured on the motion capture system are compared with the simulated trajectories according to the motion model of the controlled wheel system. According to the obtained mismatch, the exact values of controlled wheel system parameters are determined. The paper presents expressions for calculating the mismatch based on experimental data from the motion capture system and theoretical data of the controlled wheel system motion model. An algorithm for identifying the value of the rolling friction coefficient based on experimental studies of the Roller Racer is presented. Conclusions about the possibility of using system parameter identification method are made.

Author Biography

K. S. Yefremov, Kalashnikov ISTU

Kalashnikov ISTU

References

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Bizyaev, I. A., Borisov, A. V., Mamaev, I. S. Exotic dynamics of nonholonomic roller racer with periodic control. Regular and Chaotic Dynamics. 2018. No. 23 (7), pp. 983-994.

Kilin A., Karavaev Y., Yefremov K. Experimental Investigations of the Controlled Motion of the Roller Racer Robot // Climbing and Walking Robots Conference. Springer, Cham, 2021. Pp. 428-437.

Yefremov, K. S., Ivanova, T. B., Kilin, A. A., Karavaev, Y. L. Theoretical and experimental investigations of the controlled motion of the Roller Racer. In 2020 International Conference Nonlinearity, Information and Robotics (NIR). 2020, December. Pp. 1-5. IEEE.

Ardentov A. A., Karavaev Y. L., Yefremov K. S. Euler elasticas for optimal control of the motion of mobile wheeled robots: the problem of experimental realization //Regular and Chaotic Dynamics. 2019. Vol. 24, no. 3. Pp. 312-328.

Karavaev, Yu. L. and Kilin, A.A., Nonholonomic Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform: Theory and Experiments, Proc. Steklov Inst. Math., 2016, vol. 295,pp. 158-167; see also: Tr. Mat. Inst. Steklova, 2016, vol. 295, pp. 174-183.

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Oliveira J.P., Santos T.G., Miranda R.M. Revisiting fundamental welding concepts to improve additive manufacturing: From theory to practice. In Progress in Materials Science. 2020. Vol. 107. Pp. 100590.

Liu T. et al. The role of the hercules autonomous vehicle during the covid-19 pandemic: An autonomous logistic vehicle for contactless goods transportation. In IEEE Robotics & Automation Magazine. 2021. Vol. 28. No. 1. Pp. 48-58.

Pedemonte, N., Rasheed, T., Marquez-Gamez, D., Long, P., Hocquard, É., Babin, F., Caro, S. Fastkit: A mobile cable-driven parallel robot for logistics. In Advances in Robotics Research: From Lab to Market. 2020. Pp. 141-163. Springer, Cham.

Ravankar, A., Ravankar, A. A., Kobayashi, Y., Hoshino, Y., Peng, C. C. Path smoothing techniques in robot navigation: State-of-the-art, current and future challenges. Sensors, 2018, 18(9), 3170.

Barakat, M. H., Azar, A. T., Ammar, H. H. Agricultural service mobile robot modeling and control using artificial fuzzy logic and machine vision. In International Conference on Advanced Machine Learning Technologies and Applications (2019, March). Springer, Cham. Pp. 453-465.

Cybulski B., Wegierska A., Granosik G. Accuracy comparison of navigation local planners on ROS-based mobile robot. In 12th International Workshop on Robot Motion and Control (RoMoCo). IEEE, 2019. Pp. 104-111.

Dudzik S. Application of the Motion Capture System to Estimate the Accuracy of a Wheeled Mobile Robot Localization. In Energies. 2020. Vol. 13, no. 23. P. 6437.

Zafari F., Gkelias A., Leung K. K. A survey of indoor localization systems and technologies. In IEEE Communications Surveys & Tutorials. 2019. Vol. 21, no. 3. Pp. 2568-2599.

Röwekämper J., Sprunk C., Tipaldi G.D., Stachniss C., Pfaff P., & Burgard W. On the position accuracy of mobile robot localization based on particle filters combined with scan matching. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2012, October. Pp. 3158-3164. IEEE.

Han, S., Lim, H., Lee, J. An efficient localization scheme for a differential-driving mobile robot based on RFID system. IEEE Transactions on Industrial Electronics. 2007. 54, pp. 3362-3369.

Bizyaev I.A., Borisov A.V., Mamaev I.S. Exotic dynamics of nonholonomic roller racer with periodic control. Regular and Chaotic Dynamics. 2018. No. 23, pp. 983-994.

Kilin A., Karavaev Y., Yefremov K. Experimental Investigations of the Controlled Motion of the Roller Racer Robot. In Climbing and Walking Robots Conference. Springer, Cham, 2021. Pp. 428-437.

Yefremov K.S., Ivanova T.B., Kilin A.A., Karavaev Y.L. Theoretical and experimental investigations of the controlled motion of the Roller Racer. In 2020 International Conference Nonlinearity, Information and Robotics (NIR). 2020, December. Pp. 1-5. IEEE.

Ardentov A. A., Karavaev Y. L., Yefremov K. S. Euler elasticas for optimal control of the motion of mobile wheeled robots: the problem of experimental realization //Regular and Chaotic Dynamics. 2019. Vol. 24, no. 3. Pp. 312-328.

Karavaev Yu.L. and Kilin A.A., Nonholonomic Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform: Theory and Experiments, Proc. Steklov Inst. Math., 2016, vol. 295, pp. 158-167; see also: Tr. Mat. Inst. Steklova, 2016, vol. 295, pp. 174-183.

Kilin A.A. and Karavaev Yu. L. Experimental Research of Dynamic of Spherical Robot of Combined Type, Nelin. Dinam., 2015, vol. 11, no. 4, pp. 721-734 (Russian).