Recently, I met a young researcher that insisted on the statement that position control for mobile robotics (ground and aerial) is already solved with many working solutions and that the real research lies in the estimation (pose estimation), specially in UAVs. Do you agree with this statement?
If not, please write bellow the reasons you think that there is for the continuity of mobile robot motion control research. Which areas there are for improvement? What are the technical reasons for continuing researching these solutions?
Partial yes. For outdoor UAV, the accurate estimation of 3D pose is important. Their robust performance is also important under the constraint of embedded processor. Hence, how to design an effective control for an outdoor UAV becomes paramount. For ground mobile robot, different terrain conditions are different for a successful trajectory tracking control. Only motion control without extra sensors (vision, laser, wireless) will be a challenge. Even though, the successful motion control for the mobile robot will improve the further task, e.g., human-robot interaction, cooperative control.
Sincerely,
Chih-Lyang Hwang
I totally agree. That was also my point. However, I was wondering if it was only me that thought in this same way.
Thanks for your comment. Chih-Lyang Hwang .
However, he stated that the gain schedule SO(3) control approach is sufficient to control the motion of a UAV. however, I do believe that robust approaches are needed to a variety of situations. Do you agree?
Hello Tiago,
very nice question!
Position control for mobile robots has a wide research literature, both for aerial and ground vehicles. However, I would not say that research on these topics has no margin of improvements. Indeed, several points are still to be fully tackled in my opinion, e.g.:
- position control in case of faults on sensors and/or actuators;
- position control in case of severe disturbances;
- reference generation and/or position control in case of constraints;
- networked position control of multiple vehicles;
just to name a few.
I have to agree, however, that due to the massive use of sensors in modern mobile robots, the major efforts in research are expected to be in sensor fusion, pose estimation and autonomous behaviour (e.g. what to do if an obstacle is found? how to choose the path between two waypoints? when do I maximize performances over consumption? how to interact with people? etc ...).
Very interested to see what other researchers think on these topics as well :)
Hi:
Besides the trajectory tracking control of various mobile robots (cf. the following URLs), the human-robot interactions (e.g., specific human detection through human detection and face (expression) recognition, voice command based control of omnidirectional service robot, voice communication between human and robot, cooperative control, nonlinear multiagents control), and the remote control UAV are our recent studies.
(1)https://www.youtube.com/watch?v=Rp3uz87PosM
(2)https://youtu.be/6b4KaHFXOnA
(3)https://youtu.be/ZydcLw4XkGI
(4)https://www.youtube.com/watch?v=h1XizA6J-qk
(5)https://www.youtube.com/watch?v=HECEFTzcnCw
(6)https://www.youtube.com/watch?v=T-D9xyeGDnY
(7)https://www.youtube.com/watch?v=TZYrcnHMMEo
(8)https://youtu.be/21mmPvadTqM; https://youtu.be/5zlrYwdub4M
(9)https://youtu.be/WTQ51Me5FZk; https://youtu.be/i8WOZSh8-Cw
Best regards,
Chih-Lyang Hwang
I think your question is related to improvements of control methods. Up to now, reputation journals or transactions, which are flagships of theory control and applications, have been continuing to publish works of mobile robot control such as distributed control, challenged control or event-triggered control. For example,
- L. N. Tan, "Omnidirectional-Vision-Based Distributed Optimal Tracking Control for Mobile Multirobot Systems With Kinematic and Dynamic Disturbance Rejection," in IEEE Transactions on Industrial Electronics, vol. 65, no. 7, pp. 5693-5703, July 2018.
- S. Li, L. Ding, H. Gao, Y. Liu, L. Huang and Z. Deng, "ADP-Based Online Tracking Control of Partially Uncertain Time-Delayed Nonlinear System and Application to Wheeled Mobile Robots," in IEEE Transactions on Cybernetics. doi: 10.1109/TCYB.2019.2900326
- X. Liu, S. S. Ge, C. Goh and Y. Li, "Event-Triggered Coordination for Formation Tracking Control in Constrained Space With Limited Communication," in IEEE Transactions on Cybernetics, vol. 49, no. 3, pp. 1000-1011, March 2019. doi: 10.1109/TCYB.2018.2794139
- Badges
- Science topic
- Similar topics
- Mathematical Sciences
- Control Theory
- Control Systems