skip to main content
OSTI.GOV title logo U.S. Department of Energy
Office of Scientific and Technical Information

Title: Fully decentralized estimation and control for a modular wheeled mobile robot

Abstract

In this paper, the problem of fully decentralized data fusion and control for a modular wheeled mobile robot (WMR) is addressed. This is a vehicle system with nonlinear kinematics, distributed multiple sensors, and nonlinear sensor models. The problem is solved by applying fully decentralized estimation and control algorithms based on the extended information filter. This is achieved by deriving a modular, decentralized kinematic model by using plane motion kinematics to obtain the forward and inverse kinematics for a generalized simple wheeled vehicle. This model is then used in the decentralized estimation and control algorithms. WMR estimation and control is thus obtained locally using reduced order models with reduced communication of information between nodes is carried out after every measurement (full rate communication), the estimates and control signals obtained at each node are equivalent to those obtained by a corresponding centralized system. Transputer architecture is used as the basis for hardware and software design as it supports the extensive communication and concurrency requirements that characterize modular and decentralized systems. The advantages of a modular WMR vehicle include scalability, application flexibility, low prototyping costs, and high reliability.

Authors:
;
Publication Date:
Research Org.:
Massachusetts Inst. of Tech., Cambridge, MA (US)
OSTI Identifier:
20067739
Resource Type:
Journal Article
Journal Name:
International Journal of Robotics Research
Additional Journal Information:
Journal Volume: 19; Journal Issue: 6; Other Information: PBD: Jun 2000; Journal ID: ISSN 0278-3649
Country of Publication:
United States
Language:
English
Subject:
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; DATA PROCESSING; ROBOTS; MONITORS; CONTROL SYSTEMS; NONLINEAR PROBLEMS; MOTION; ALGORITHMS; PROBABILISTIC ESTIMATION

Citation Formats

Mutambara, A.G.O., and Durrant-Whyte, H.F. Fully decentralized estimation and control for a modular wheeled mobile robot. United States: N. p., 2000. Web. doi:10.1177/02783640022067030.
Mutambara, A.G.O., & Durrant-Whyte, H.F. Fully decentralized estimation and control for a modular wheeled mobile robot. United States. doi:10.1177/02783640022067030.
Mutambara, A.G.O., and Durrant-Whyte, H.F. Thu . "Fully decentralized estimation and control for a modular wheeled mobile robot". United States. doi:10.1177/02783640022067030.
@article{osti_20067739,
title = {Fully decentralized estimation and control for a modular wheeled mobile robot},
author = {Mutambara, A.G.O. and Durrant-Whyte, H.F.},
abstractNote = {In this paper, the problem of fully decentralized data fusion and control for a modular wheeled mobile robot (WMR) is addressed. This is a vehicle system with nonlinear kinematics, distributed multiple sensors, and nonlinear sensor models. The problem is solved by applying fully decentralized estimation and control algorithms based on the extended information filter. This is achieved by deriving a modular, decentralized kinematic model by using plane motion kinematics to obtain the forward and inverse kinematics for a generalized simple wheeled vehicle. This model is then used in the decentralized estimation and control algorithms. WMR estimation and control is thus obtained locally using reduced order models with reduced communication of information between nodes is carried out after every measurement (full rate communication), the estimates and control signals obtained at each node are equivalent to those obtained by a corresponding centralized system. Transputer architecture is used as the basis for hardware and software design as it supports the extensive communication and concurrency requirements that characterize modular and decentralized systems. The advantages of a modular WMR vehicle include scalability, application flexibility, low prototyping costs, and high reliability.},
doi = {10.1177/02783640022067030},
journal = {International Journal of Robotics Research},
issn = {0278-3649},
number = 6,
volume = 19,
place = {United States},
year = {2000},
month = {6}
}