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Fundam. Prikl. Mat., 2005, Volume 11, Issue 8, Pages 29–80 (Mi fpm918)  

This article is cited in 28 scientific papers (total in 28 papers)

Motion control of mobile wheeled robots

Yu. G. Martynenko

M. V. Lomonosov Moscow State University

Abstract: The vector-matrix formalism of nonholonomic mechanics is set up, that is used to construct mathematical models of mobile wheeled robots. The properties of free (ballistic) motions of mobile robots are researched, which can be the basis of natural motion control modes. The analysis of uncontrollable motions is carried out, taking transients in circuits of the electric drive into consideration. The problem of determining voltages supplied to drives of the robot that ensure implementation of program motions is discussed. One candidate solution of a problem of planning a pathway of the robot in an ordered medium is presented. The mobile single-wheel robot with a gyroscopic stabilization system is described–the “Gyrowheel” robot, capable to move autonomously, along a straight-line (rectilinear motion), as well as along a curvilinear pathway.

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English version:
Journal of Mathematical Sciences (New York), 2007, 147:2, 6569–6606

Bibliographic databases:

UDC: 531.8

Citation: Yu. G. Martynenko, “Motion control of mobile wheeled robots”, Fundam. Prikl. Mat., 11:8 (2005), 29–80; J. Math. Sci., 147:2 (2007), 6569–6606

Citation in format AMSBIB
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\by Yu.~G.~Martynenko
\paper Motion control of mobile wheeled robots
\jour Fundam. Prikl. Mat.
\yr 2005
\vol 11
\issue 8
\pages 29--80
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\mathscinet{http://www.ams.org/mathscinet-getitem?mr=2226752}
\zmath{https://zbmath.org/?q=an:1151.93396}
\transl
\jour J. Math. Sci.
\yr 2007
\vol 147
\issue 2
\pages 6569--6606
\crossref{https://doi.org/10.1007/s10958-007-0496-4}
\scopus{http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-35548955068}


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    Citing articles on Google Scholar: Russian citations, English citations
    Related articles on Google Scholar: Russian articles, English articles

    This publication is cited in the following articles:
    1. Martynenko Yu.G., Formal'skii A.M., “On the motion of a mobile robot with roller-carrying wheels”, J. Comput. Syst. Sci. Int., 46:6 (2007), 976–983  crossref  mathscinet  zmath  isi  elib
    2. Martynenko Yu.G., “Stability of steady motions of a mobile robot with roller-carrying wheels and a displaced centre of mass”, J. Appl. Math. Mech., 74:4 (2010), 436–442  crossref  mathscinet  zmath  isi
    3. A. Ya. Krasinskii, D. R. Kayumova, “O vliyanii deformiruemosti koles na dinamiku robota s differentsialnym privodom”, Nelineinaya dinam., 7:4 (2011), 803–822  mathnet
    4. Martynenko Yu.G., Mitrofanov I.E., Pis'mennaya E.V., Formal'skii A.M., “On Supervisory Control of Mobile Platform on Four Swivel Wheels”, Journal of Computer and Systems Sciences International, 50:2 (2011), 325–335  crossref  mathscinet  zmath  isi  elib
    5. Bartenev V.V., Yatsun S.F., Al-Ezzi A.S., “Matematicheskaya model dvizheniya mobilnogo robota s dvumya nezavisimymi veduschimi kolesami po gorizontalnoi ploskosti”, Izvestiya Samarskogo nauchnogo tsentra Rossiiskoi akademii nauk, 13:4-1 (2011), 288–293  elib
    6. Pogosov D.B., “Postroenie i analiz matematicheskoi modeli vysokomanevrennykh gusenichnykh robotov”, Izvestiya Kabardino-Balkarskogo nauchnogo tsentra RAN, 2011, no. 1, 301–306  elib
    7. Al-Ezzi A.S., “Mobilnyi robot s dvumya veduschimi kolesami i upravleniem po infrakrasnomu mayaku”, Izvestiya Yugo-Zapadnogo gosudarstvennogo universiteta, 2011, no. 3, 13–18  elib
    8. A. V. Borisov, A. A. Kilin, I. S. Mamaev, “Kak upravlyat sharom Chaplygina pri pomoschi rotorov”, Nelineinaya dinam., 8:2 (2012), 289–307  mathnet
    9. Kayumova D.R., “O stabilizatsii dvizheniya robota s deformiruemymi kolesami pri nepolnoi informatsii o sostoyanii”, Trudy MAI, 2012, no. 53, 12–12  elib
    10. Tachkov A.A., “Primenenie metoda proportsionalnogo navedeniya dlya upravleniya mobilnym razvedyvatelnym robotom v usloviyakh pozhara”, Mekhatronika, avtomatizatsiya, upravlenie, 2012, no. 7, 27–33  elib
    11. Kabanov A.A., “Sistema robastnogo suboptimalnogo upravleniya dvizheniem mobilnogo robota”, Mekhatronika, avtomatizatsiya, upravlenie, 2013, no. 4, 14–18  elib
    12. Tyagunov O.A., Teplov M.A., “Nastroika tipovykh regulyatorov dlya stabilizatsii skorosti dvizheniya mobilnogo robototekhnicheskogo kompleksa s ispolzovaniem tekhnologii postroeniya pareto-optimalnykh reshenii”, Mekhatronika, avtomatizatsiya, upravlenie, 2013, no. 4, 19–25  elib
    13. A. V. Borisov, A. A. Kilin, I. S. Mamaev, “Kak upravlyat sharom Chaplygina pri pomoschi rotorov. II”, Nelineinaya dinam., 9:1 (2013), 59–76  mathnet
    14. N. O. Sedova, “On the Path Following Problem for Nonholonomic Systems with Feedback Delays”, Autom. Remote Control, 74:8 (2013), 1348–1355  mathnet  crossref  isi  elib  elib
    15. Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev, “How to Control the Chaplygin Ball Using Rotors. II”, Regul. Chaotic Dyn., 18:1-2 (2013), 144–158  mathnet  crossref  mathscinet  zmath
    16. E. N. Pivovarova, A. V. Klekovkin, “Vliyanie treniya kacheniya na upravlyaemoe dvizhenie robota-kolesa”, Vestn. Udmurtsk. un-ta. Matem. Mekh. Kompyut. nauki, 25:4 (2015), 583–592  mathnet  elib
    17. Alexey V. Borisov, Ivan S. Mamaev, Alexander A. Kilin, Ivan A. Bizyaev, “Qualitative Analysis of the Dynamics of a Wheeled Vehicle”, Regul. Chaotic Dyn., 20:6 (2015), 739–751  mathnet  crossref  mathscinet  adsnasa
    18. Alexey V. Borisov, Alexander A. Kilin, Ivan S. Mamaev, “On the Hadamard–Hamel Problem and the Dynamics of Wheeled Vehicles”, Regul. Chaotic Dyn., 20:6 (2015), 752–766  mathnet  crossref  mathscinet  adsnasa
    19. Ivan A. Bizyaev, “The Inertial Motion of a Roller Racer”, Regul. Chaotic Dyn., 22:3 (2017), 239–247  mathnet  crossref  mathscinet
    20. Pshikhopov V., Medvedev M., “Position-Path Control of a Vehicle”: Pshikhopov, V, Path Planning For Vehicles Operating in Uncertain 2D Environments, Butterworth-Heinemann, 2017, 1–23  crossref  isi  scopus
    21. Voinov I.V., Kazantsev A.M., Nosikov V M., “A Navigation System of Mobile Robot Based on Bearing Measurements of Beacons”, 2017 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM), IEEE, 2017  isi
    22. Vinogradov A., Terentev A., Petrov V., Petrov O., “Development of Mathematical Model of Moving Wheeled Robot Using Visual Programming Platform Labview”, Proceedings of the 2017 IEEE Russia Section Young Researchers in Electrical and Electronic Engineering Conference (2017 ElConRus), IEEE, 2017, 1056–1059  crossref  mathscinet  isi
    23. Labakhua L., Martins I., Igor M., “Control of a Mobile Robot With Swedish Wheels”, 2017 IEEE International Conference on Power, Control, Signals and Instrumentation Engineering (Icpcsi), IEEE, 2017, 267–272  crossref  mathscinet  isi
    24. B. I. Adamov, “A Study of the Controlled Motion of a Four-wheeled Mecanum Platform”, Nelineinaya dinam., 14:2 (2018), 265–290  mathnet  crossref  elib
    25. O. M. Kiselev, “Stable Feedback Control of a Fast Wheeled Robot”, Nelineinaya dinam., 14:3 (2018), 409–417  mathnet  crossref
    26. Ivan A. Bizyaev, Alexey V. Borisov, Ivan S. Mamaev, “Exotic Dynamics of Nonholonomic Roller Racer with Periodic Control”, Regul. Chaotic Dyn., 23:7-8 (2018), 983–994  mathnet  crossref
    27. P. A. Kruchinin, A. A. Laskin, “Statsionarnye rezhimy dvizheniya staticheski neustoichivogo robota s dvumya soosnymi deformiruemymi kolesami”, Fundament. i prikl. matem., 22:2 (2018), 181–193  mathnet
    28. Tyagunov O.A., Teplov A.A., Slepynina E.A., “Adjustment of Parameters of Autonomous Mobile Robot Speed and Heading Stabilization Subsystem Controllers on the Basis of Pareto-Optimal Solution Construction Process”, Proceedings of the 2018 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering (Eiconrus), IEEE, 2018, 1011–1016  crossref  isi
  • Фундаментальная и прикладная математика
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