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Platooning Strategy of Mobile Robot: Simulation and Experiment

Baarath, Kunjunni and Muhammad Aizzat, Zakaria and Suparmaniam, M. V. and Mohd Yazid, Abu (2017) Platooning Strategy of Mobile Robot: Simulation and Experiment. In: MATEC Web of Conferences: The 2nd International Conference on Automotive Innovation and Green Vehicle (AiGEV 2016), 2-3 August 2016 , Malaysia Automotive Institute, Cyberjaya, Selangor. pp. 1-13., 90 (01060). ISSN 2261-236X

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Abstract

Concurrent studies show vehicle platooning system as a promising approach for a new transportation system. The platooning strategy can be also applied to automated mobile robots. Including dynamic modelling in the simulation with kinematic model would yield a different result as the dynamic modelling would include the physical parameters of the mobile robot. The aim is to create a model that describes the motion of a robot that follows another robot based on predetermined distance. Dynamic model of the proposed mobile robot is simulated and the kinematic modelling was included in to simulate the motion of the mobile robot. PID controller will be used as a controller for robot’s motion and platooning strategy. A reference distance is given as the input and the PID controller computes the error and sends input to the mobile robot in the form of voltage. The robot is able to follow the leader robot by maintaining a distance of one metre with a small deviation in the direction as the robot tends to move towards the left due to forces acting on the wheel. This method can be implemented in a human following mobile robot where the leader robot is replaced with a human user.

Item Type: Conference or Workshop Item (Lecture)
Uncontrolled Keywords: mobile robot; platooning system
Subjects: T Technology > TS Manufactures
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 07 Nov 2017 02:40
Last Modified: 27 Feb 2018 07:40
URI: http://umpir.ump.edu.my/id/eprint/17538
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