Sharp Curve Trajectory Tracking of a Universal Omni-Wheeled Mobile Robot Using a Sliding Mode Controller

Nalaka Amarasiri,Alan A. Barhorst,Raju Gottumukkala

ASME Letters in Dynamic Systems and Control（2024）

University of Louisiana at Lafayette Department of Mechanical Engineering

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Abstract

Abstract In our previous works, Amarasiri et al. (2022, “Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot,” ASME Lett. Dyn. Sys. Control 2(4), p. 040902) and Amarasiri et al. (2024, “Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots,” ASME Lett. Dyn. Sys. Control 4(2), p. 021007), two dynamic models of a universal omni-wheeled mobile robot (UOWMR), and trajectory-tracking controllers (three linear and one nonlinear) were developed and presented. The purpose of that work was to identify suitable combinations of dynamic models and trajectory-tracking controllers, choosing the combination with the highest tracking accuracy and the lowest solver execution time. The ultimate purpose is to utilize these physics-based tools in a reinforcement learning (RL) agent developed for path planning and navigation in an unstructured environment. Three trajectories were investigated including a smooth path, a sharp curved path, and a smooth path with disturbance forces. The sliding mode controller (SMC) following a trajectory with sharp (right-angled) curves was not investigated in that work. The sharp corners caused indeterminacy in the path derivatives required for the SMC algorithm. In this short article, we complete our studies of the SMC on sharp corner paths utilizing slight trajectory corner smoothing.

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【要点】：本文研究了利用滑动模式控制器（SMC）对具有锐角轨迹的通用全向轮移动机器人（UOWMR）进行精确轨迹跟踪，通过轻微轨迹角平滑解决了锐角带来的不确定性问题，旨在提高跟踪精度并应用于强化学习路径规划和导航。

【方法】：研究采用滑动模式控制器，并对轨迹的锐角部分进行轻微平滑处理，以适应SMC算法对路径导数的需求。

【实验】：实验部分针对平滑路径、锐角弯曲路径以及带有干扰力的平滑路径进行了研究，使用的数据集为UOWMR的动态模型和轨迹跟踪控制结果，实验表明经过轻微平滑处理的锐角轨迹能够被有效跟踪。