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Machines
Special Issues
Design and Control of Mobile Robots
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Design and Control of Mobile Robots

A special issue of Machines (ISSN 2075-1702). This special issue belongs to the section "Automation and Control Systems".

Deadline for manuscript submissions: closed (20 February 2024) | Viewed by 9068

Special Issue Editors

Prof. Dr. Juan Manuel Jacinto-Villegas

E-Mail Website
Guest Editor
Engineering Faculty, Autonomous University of the State of Mexico, Toluca 50110, Mexico
Interests: medical and industrial robotic; telerobotics; Human-robot/machine interaction; virtual environments; haptic interfaces; haptic control; mechatronics; automation; electronic design;mechanisms design
Dr. Otniel Portillo-Rodríguez

E-Mail Website
Guest Editor
School of Engineering, Autonomous University of the State of Mexico, Toluca 50110, Mexico
Interests: haptic interfaces; mobile robotics; bioengineering; machine learning
Dr. Massimo Satler

E-Mail Website
Guest Editor
Institute of Mechanical Intelligence, Scuola Superiore Sant'Anna, 56127 Pisa, Italy
Interests: haptics; mobile robotics; localization; sensor, fusion; teleoperation

Special Issue Information

Dear Colleagues,

In the last decade, mobile robots have become very popular in various sectors, such as medicine, industry, and services, due to their ability to be remotely teleoperated using haptic feedback, move autonomously in an unknown environment, and accomplish tasks ordinarily performed by humans in hazardous areas. Mobile robots incorporate different features and approaches to function in an unknown environment through a combination of locomotion, perception, cognition, localization, and navigation operations. These features and approaches inspire the development of new ideas for improving and optimizing the abilities of mobile robots.

This Special Issue aims to publish research papers and reviews articles focused on the theory, design, teleoperation, and control of mobile robots. 

Topics of interest include, but are not limited to:

  • Artificial intelligence for autonomous mobile robots;
  • Locomotion mechanism design;
  • Bio-inspired mobile robots;
  • Teleoperation, haptic feedback, and control of mobile robots;
  • Applications of mobile robots;
  • Mobile robot algorithm design;
  • Cooperative mobile robots;
  • Sensor fusion and perception in mobile robots;
  • Mobile robots for human–robot interaction.

Prof. Dr. Juan Manuel Jacinto-Villegas
Dr. Otniel Portillo-Rodríguez
Dr. Massimo Satler
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Machines is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • SLAM (simultaneous localization and mapping)
  • telerobotics
  • learning algorithms
  • motion planning
  • mechanical design
  • human–robot interaction
  • environment perception
  • locomotion
  • cognition
  • navigation

Published Papers (4 papers)

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Research

20 pages, 23042 KiB  
Article
Design, Assembly and Control of a Differential/Omnidirectional Mobile Robot through Additive Manufacturing
by Erick Axel Padilla-García, Raúl Dalí Cruz-Morales, Jaime González-Sierra, David Tinoco-Varela and María R. Lorenzo-Gerónimo
Machines 2024, 12(3), 163; https://doi.org/10.3390/machines12030163 - 28 Feb 2024
Viewed by 1230
Abstract
Although additive manufacturing is a relatively new technology, it has been widely accepted by industry and academia due to the wide variety of prototypes that can be built. Furthermore, using mobile robots to carry out different tasks allows greater flexibility than using manipulator [...] Read more.
Although additive manufacturing is a relatively new technology, it has been widely accepted by industry and academia due to the wide variety of prototypes that can be built. Furthermore, using mobile robots to carry out different tasks allows greater flexibility than using manipulator robots. In that sense, and based on those above, this article focuses on the design and assembly of a multi-configurable mobile robot that is capable of changing from a differential to an omnidirectional configuration. For this purpose, a sequential mechatronic design/control methodology was implemented to obtain an affordable platform via additive manufacturing which is easily scalable and allows the user to change from one configuration to another. As a proof of concept, this change is made manually. Fabrication, construction, and assembly processes for both structures are presented. Then, a hierarchical control law is designed. In this sense and based on Lyapunov’s method, a low-level controller is developed to control the angular speed of the wheels to a desired angular speed, and a medium-level controller controls the robot’s attitude to follow a desired Cartesian trajectory. Finally, the control strategies are implemented in both prototype configurations, and through experimental results, the theoretical analysis and the construction of the mobile robot are validated. Full article
(This article belongs to the Special Issue Design and Control of Mobile Robots)
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24 pages, 2706 KiB  
Article
Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots
by Javier Moreno, Emanuel Slawiñski, Fernando A. Chicaiza, Francisco G. Rossomando, Vicente Mut and Marco A. Morán
Machines 2023, 11(11), 988; https://doi.org/10.3390/machines11110988 - 25 Oct 2023
Cited by 2 | Viewed by 1027
Abstract
This manuscript presents a control law based on the kinematic control concept and the input–output linearization approach. More specifically, the given approach has the structure of a two-loop controller. A rigorous closed-loop system analysis is presented by using known theory on perturbed systems. [...] Read more.
This manuscript presents a control law based on the kinematic control concept and the input–output linearization approach. More specifically, the given approach has the structure of a two-loop controller. A rigorous closed-loop system analysis is presented by using known theory on perturbed systems. By assuming that the desired velocity in the body frame is persistently exciting, the uniform bound of the tracking error in earth coordinates is ensured. A simulation study using practical mobile robot parameters shows the viability of the introduced approach. In addition, two known trajectory tracking controllers are simulated in order to compare the performance of the proposed technique. Better tracking accuracy is obtained with the proposed control approach, even if uncertainties in the knowledge of the friction coefficients are presented. Full article
(This article belongs to the Special Issue Design and Control of Mobile Robots)
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28 pages, 7422 KiB  
Article
Design, Control and Stabilization of a Transformable Wheeled Fire Fighting Robot with a Fire-Extinguishing, Ball-Shooting Turret
by Alper Kadir Tanyıldızı
Machines 2023, 11(4), 492; https://doi.org/10.3390/machines11040492 - 19 Apr 2023
Cited by 3 | Viewed by 4532
Abstract
In this study, a hybrid wheeled fire extinguisher robot has been created. The robot has a two-degrees-of-freedom (DoF) fire extinguisher gun turret. To control the disruptive effect of mechanical oscillations on the firing system during movement of the robot body, PID and SMC [...] Read more.
In this study, a hybrid wheeled fire extinguisher robot has been created. The robot has a two-degrees-of-freedom (DoF) fire extinguisher gun turret. To control the disruptive effect of mechanical oscillations on the firing system during movement of the robot body, PID and SMC controllers are used. When closed on flat ground, the robot’s five-piece transformable wheel construction allows it to travel swiftly. The wheel mechanism opens on tough terrain, allowing the wheel to assume a star-shaped configuration and enabling the robot to ascend by grasping onto obstructions. The three-dimensional mechanical design of the firefighter robot was designed first, followed by the kinematic model of the turret system and the three-dimensional Simscape model in the Matlab Simmechanic environment. Simulations of throwing fire-extinguishing balls at fire locations positioned at 20 m to 80 m horizontal and 1–30 m vertical distances were carried out on this model for three different scenarios (the robot is stationary, moving at constant speed and rotating around itself). The simulations resulted in a shooting success rate of 85.71% with PID and 95.23% with SMC (for a total of 105 shots). When the mistake rates were investigated, it was discovered that the constructed fire robot was usable in firefighting. Full article
(This article belongs to the Special Issue Design and Control of Mobile Robots)
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20 pages, 7984 KiB  
Article
Design and Experiments of a Two-Stage Fuzzy Controller for the Off-Center Steer-by-Wire System of an Agricultural Mobile Robot
by Jiwei Qu, Zhe Zhang, Hongji Li, Ming Li, Xiaobo Xi and Ruihong Zhang
Machines 2023, 11(2), 314; https://doi.org/10.3390/machines11020314 - 20 Feb 2023
Cited by 1 | Viewed by 1358
Abstract
This paper focuses on the steering motion control of an in-wheel motor-drive robot. The influence of the pulse-width modulation (PWM) duty cycle on steering motion and the steering control method have not yet been proved. Thus, this study aimed to design a steering [...] Read more.
This paper focuses on the steering motion control of an in-wheel motor-drive robot. The influence of the pulse-width modulation (PWM) duty cycle on steering motion and the steering control method have not yet been proved. Thus, this study aimed to design a steering controller for the off-center steer-by-wire system of a robot. The influence of the PWM duty cycle on the steering motion under different conditions is firstly tested on a test bench. Based on the optimal duty cycles of different cases found in the test, a two-stage fuzzy controller of the duty cycle is designed for the steering system. The first stage of the controller is used to dynamically adjust the PWM duty cycle of the electromagnetic friction lock (EFL). The second stage is designed to realize the self-tuning of the fuzzy controller’s quantization factor and the scale factor. Through two-stage control, the motion of the in-wheel motor and the EFL can be coordinated to realize stable and rapid steering. Considering the robots’ primary application in field roads at present, road tests were ultimately conducted to verify the proposed method. The test results show that the angle response rate of the steering arm is elevated with the increase in the steering angle signal. The proposed controller can sensitively track the target angles with smaller overshoot, yaw rate and lateral acceleration, and better steering accuracy than the PID (proportional–integral–differential) controller under different working conditions. Full article
(This article belongs to the Special Issue Design and Control of Mobile Robots)
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