Control of Mobile Robots: Glue Lectures

Instructor:

Smriti Chopra
ECE Ph.D. Candidate
Georgia Tech
 Glue Lecture 2: Robot Models

Pay attention, this lecture will help you all with Quiz 2!

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 Two models for robots …

(a)
(b)

R
ẋ = (vr + vl ) cos ẋ = v cos
2
R ẏ = v sin
ẏ = (vr + vl ) sin ˙=!
2
˙ = R (vr vl )
L

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 In Action …

4

 From one robot model to another …

t = 10s
B
ẋ = v cos
ẏ = v sin
˙=!
A

High level task !

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 From one robot model to another …

t = 10s
B
ẋ = v cos
ẏ = v sin
˙=!
A

High level task !

Control design - v,
!

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 From one robot model to another …

R
t = 10s
B
ẋ = v cos ẋ = (vr + vl ) cos
2
ẏ = v sin R
˙=! ẏ = (vr + vl ) sin
2
A

˙ = R (vr vl )
L
High level task !



Control design - v,
! vr =
2v + !L

2R
2v !L
Commands sent to the robots -
vr , vl vl =
2R
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 An intuitive example …

For inputs v = 0, ! = constant , find the corresponding angular wheel
velocities vr
, vl


2v + !L
vr =
2R
2v !L
vl =
2R

CL
vr =
2R
CL
vl =
2R
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 Back to our musical bot …

ẋ = v cos
t = 10s
B

ẏ = v sin

A

˙=!

Finding v, ! (and consequently vr , vl ) – simple?

No Feedback !!!

Important – state information (where is the bot currently)

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 Wheel encoders …
•  Total N ticks per revolution


tick l
•  lD = 2⇡R
N
dt
tick r
• 
r = 2⇡R
D
N
Dr + Dl
• 
c =
D
2
x0 = x + Dc cos
y 0 = y + Dc sin
0 Dr Dl
= +
L

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 For your general curiosity …
R
ẋ = (vr + vl )cos✓
2
R
ẏ = (vr + vl )sin✓
2
R
✓˙ = (vr vl )
L

x0 = x + Dc cos Dr = Rvr dt
y 0 = y + Dc sin Dl = Rvl dt
0 Dr Dl
= +
L x(t + dt) = x(t) + ẋdt

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 An Odometry example …

If my robot starts at the origin (pos and orientation is 0), where is it
located after 0.1s, given that 10 ticks were recorded for the right wheel


and 6 ticks for the left wheel. Wheel radius is 2m, total ticks is 100,
distance between wheels is 4m.

tick l
Dl = 2⇡R x0 = x + Dc cos x0 = 1.0053 m
N
y 0 = y + Dc sin y0 = 0 m
tick r Dr Dl 0
= 0.1257 rad
Dr = 2⇡R 0
= +
N L
Dr + Dl
Dc =
2
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 Check the forums, and good luck with Quiz 2!

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