Control of wheeled mobile robot in restricted environment

被引：0
|
作者：
Ali, Mohammed A. H. [1 ]
En, Chang Yong [1 ]
机构：
[1] Univ Malaysia Pahang, Fac Mfg Engn, Pekan 26600, Malaysia
来源：
4TH ASIA PACIFIC CONFERENCE ON MANUFACTURING SYSTEMS AND THE 3RD INTERNATIONAL MANUFACTURING ENGINEERING CONFERENCE | 2018年 / 319卷
关键词：
D O I：
10.1088/1757-899X/319/1/012057
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper presents a simulation and practical control system for wheeled mobile robot in restricted environment. A wheeled mobile robot with 3 wheels is fabricated and controlled by proportional derivative active force control (PD-AFC) to move in a pre-planned restricted environment to maintain the tracking errors at zero level. A control system with two loops, outer by PD controller and inner loop by Active Force Control, are designed to control the wheeled mobile robot. Fuzzy logic controller is implemented in the Active force Control to estimate the inertia matrix that will be used to calculate the actual torque applied on the wheeled mobile robot. The mobile robot is tested in two different trajectories, namely are circular and straight path. The actual path and desired path are compared.
引用
收藏
页数：7
相关论文
共 50 条
  • [41] Modeling and Control of a Six-Wheeled Mobile Robot
    Rout, Jayprakash
    Agrawal, Subham
    Choudhury, B. B.
    [J]. INFORMATION AND COMMUNICATION TECHNOLOGY FOR COMPETITIVE STRATEGIES, 2019, 40 : 323 - 331
  • [42] Adaptive Trajectory Tracking Control of Wheeled Mobile Robot
    Shen, Xiao
    Shi, Wuxi
    [J]. PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019), 2019, : 5161 - 5165
  • [43] Path guidance and control of a guided wheeled mobile robot
    Wu, SF
    Mei, JS
    Niu, PY
    [J]. CONTROL ENGINEERING PRACTICE, 2001, 9 (01) : 97 - 105
  • [44] FUZZY VISUAL SERVO CONTROL FOR A WHEELED MOBILE ROBOT
    Yu, Wen-Shyong
    Chen, Hsuan-Yi
    [J]. PROCEEDINGS OF 2013 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS (ICMLC), VOLS 1-4, 2013, : 1456 - 1461
  • [45] A Control System for Two-Wheeled Mobile Robot
    Ignatova, Detelina
    Oransky, Radoslav
    Vutchkov, Ivo
    [J]. PROCEEDINGS OF 15TH INTERNATIONAL CONFERENCE ON MECHATRONICS - MECHATRONIKA 2012, 2012, : 150 - 154
  • [46] Simulator for control of autonomous nonholonomic wheeled mobile robot
    Department of Applied Mechanics, Faculty of Mechanical Engineering, Universiti Teknologi Malaysia, 81310 Skudai, Malaysia
    [J]. J. Appl. Sci., 2008, 14 (2534-2543):
  • [47] Nonlinear control of a wheeled mobile robot with nonholonomic constraints
    Chang, CF
    Huang, CI
    Fu, LC
    [J]. 2004 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN & CYBERNETICS, VOLS 1-7, 2004, : 5404 - 5410
  • [48] A new adaptive tracking control for Wheeled Mobile Robot
    Barzamini, R.
    Yazdizadeh, A. R.
    Rahmani, A. H.
    [J]. 2006 IEEE Conference on Robotics, Automation and Mechatronics, Vols 1 and 2, 2006, : 839 - 844
  • [49] Proportional control for trajectory tracking of a wheeled mobile robot
    Hazry, D.
    Sugisaka, M.
    [J]. 2006 SICE-ICASE INTERNATIONAL JOINT CONFERENCE, VOLS 1-13, 2006, : 3418 - +
  • [50] Fractional Order Tracking Control of a Wheeled Mobile Robot
    Rojas-Moreno, Arturo
    Perez-Valenzuela, Gian
    [J]. PROCEEDINGS OF THE 2017 IEEE XXIV INTERNATIONAL CONFERENCE ON ELECTRONICS, ELECTRICAL ENGINEERING AND COMPUTING (INTERCON), 2017,
12345