Four-wheeled,individual-driven,nonholonomic structured mobile robots are widely used in industries for automated work,inspection and explora-tion purposes.The trajectory tracking control of the four-wheel individual-d...Four-wheeled,individual-driven,nonholonomic structured mobile robots are widely used in industries for automated work,inspection and explora-tion purposes.The trajectory tracking control of the four-wheel individual-driven mobile robot is one of the most blooming research topics due to its nonholonomic structure.The wheel velocities are separately adjusted to follow the trajectory in the old-fashioned kinematic control of skid-steered mobile robots.However,there is no consideration for robot dynamics when using a kinematic controller that solely addresses the robot chassis’s motion.As a result,the mobile robot has lim-ited performance,such as chattering during curved movement.In this research work,a three-tiered adaptive robust control with fuzzy parameter estimation,including dynamic modeling,direct torque control and wheel slip control is pro-posed.Fuzzy logic-based parameter estimation is a valuable tool for adjusting adaptive robust controller(ARC)parameters and tracking the trajectories with less tracking error as well as high tracking accuracy.This research considers the O type and 8 type trajectories for performance analysis of the proposed novel control technique.Our suggested approach outperforms the existing control methods such as Fuzzy,proportional–integral–derivative(PID)and adaptive robust controller with discrete projection(ARC–DP).The experimental results show that the scheduled performance index decreases by 2.77%and 4.76%.All the experimen-tal simulations obviously proved that the proposed ARC-Fuzzy performed well in smooth groud surfaces compared to other approaches.展开更多
为了推进土地执法监察信息化,以ArcGIS API for JavaScript和ArcGIS Runtime SDK for Android为WebGIS和移动GIS开发框架,基于REST服务,构建Web端土地管理系统和移动执法巡查系统。该系统支持国土数据可视化、案件查询、轨迹记录、案件...为了推进土地执法监察信息化,以ArcGIS API for JavaScript和ArcGIS Runtime SDK for Android为WebGIS和移动GIS开发框架,基于REST服务,构建Web端土地管理系统和移动执法巡查系统。该系统支持国土数据可视化、案件查询、轨迹记录、案件审查等功能,解决国土执法监察中数据传输慢、处理不及时、缺少监管等问题。充分利用移动GIS的移动性、便携性、实时性特点和WebGIS的跨平台多用户特点,建立土地执法监察GIS系统,将执法数据进行高效整合和服务共享,为提高土地执法监察效率提供技术支持。展开更多
文摘Four-wheeled,individual-driven,nonholonomic structured mobile robots are widely used in industries for automated work,inspection and explora-tion purposes.The trajectory tracking control of the four-wheel individual-driven mobile robot is one of the most blooming research topics due to its nonholonomic structure.The wheel velocities are separately adjusted to follow the trajectory in the old-fashioned kinematic control of skid-steered mobile robots.However,there is no consideration for robot dynamics when using a kinematic controller that solely addresses the robot chassis’s motion.As a result,the mobile robot has lim-ited performance,such as chattering during curved movement.In this research work,a three-tiered adaptive robust control with fuzzy parameter estimation,including dynamic modeling,direct torque control and wheel slip control is pro-posed.Fuzzy logic-based parameter estimation is a valuable tool for adjusting adaptive robust controller(ARC)parameters and tracking the trajectories with less tracking error as well as high tracking accuracy.This research considers the O type and 8 type trajectories for performance analysis of the proposed novel control technique.Our suggested approach outperforms the existing control methods such as Fuzzy,proportional–integral–derivative(PID)and adaptive robust controller with discrete projection(ARC–DP).The experimental results show that the scheduled performance index decreases by 2.77%and 4.76%.All the experimen-tal simulations obviously proved that the proposed ARC-Fuzzy performed well in smooth groud surfaces compared to other approaches.
文摘为了推进土地执法监察信息化,以ArcGIS API for JavaScript和ArcGIS Runtime SDK for Android为WebGIS和移动GIS开发框架,基于REST服务,构建Web端土地管理系统和移动执法巡查系统。该系统支持国土数据可视化、案件查询、轨迹记录、案件审查等功能,解决国土执法监察中数据传输慢、处理不及时、缺少监管等问题。充分利用移动GIS的移动性、便携性、实时性特点和WebGIS的跨平台多用户特点,建立土地执法监察GIS系统,将执法数据进行高效整合和服务共享,为提高土地执法监察效率提供技术支持。
