Mobile robot dynamics, path planning and tracking control
The aim of this project is to advance the outdoor mobility in terms of precision maneuvers of mobile robots in outdoor industry settings. This is achieved through the research of the underlying principles, mathematical formulations and engineering science foundations that lead to the development of enabling technologies for mobile robotic systems. The new research findings are to be validated through an experimental demonstrator system that has been setup and running in the past few years by integrating the knowledge and physics of this existing system into all our research endeavors. Research focus on the fundamental issues of high quality positioning measurements, precise motion maneuvers and integration of related enabling technologies of mobile robots for outdoor industries. An integrated positioning system will be designed and validated to provide high accuracy and high updating rate positioning measurement data for real-time feedback and/or navigation purposes with the full coverage of a confined local area with structure or semi-structured environments. Advanced mobility strategies and control designs using the high quality position sensing system are researched and implemented on our demonstrator – outdoor mobile robots.
For details of some results, please download papers from my publications.
Fig 1. An outdoor autonomous vehicle: basic functionality modules and our focused modules (in orange color)
Fig 2. Testing ground (with GPS and no GPS zones)
Fig 3. Individual readings two positioning systems
Fig 4. Integrated position with three positioning systems
Fig 5. A simulation/animation platform consists of ADAMS and MATLAB/SIMULINK
Fig 6. A Look-ahead/look-behind control approach for vehicle following
Fig 7. Experiment of vehicle following: Sensing and Control