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Review on real-time control schemes for wheeled mobile robot

M. Sawal, A. R. and Ali, Mohammed A. H. and Sha'akmal, S. and Azwan, A. R. A (2018) Review on real-time control schemes for wheeled mobile robot. In: International Conference On Innovative Technology, Engineering And Sciences ICITES 2018, 1-2 March 2018 , Pekan Campus Library Pekan, Pahang. pp. 1-5.. (Unpublished)

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Abstract

The purpose of this paper is to review real-time control motion algorithms for wheeled mobile robot (WMR) when navigating in environment such as road. Its need a good controller to avoid collision with any disturbance and maintain a track error with zero level. The controllers is used with and other aiding sensors to measure the WMR’s velocities, posture, and interference to estimate the needed torque of mobile robot due to wheel rotating. Four main categories for wheeled mobile robot control that have been found in literature which are namely: Kinematic based controller, Dynamic based controllers, artificial intelligence based control system, and Active Force control. A MATLAB/Simulink software is the main software to simulate and implement control system. The real-time toolbox in MATLAB/SIMULINK are used to receive/send data from sensors/to actuator with existing of real path disturbances.

Item Type: Conference or Workshop Item (Lecture)
Uncontrolled Keywords: Real-Time; Wheeled Mobile; Mobile robots; Real time control
Subjects: T Technology > TS Manufactures
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: Pn. Hazlinda Abd Rahman
Date Deposited: 12 Jun 2018 02:19
Last Modified: 12 Jun 2018 02:25
URI: http://umpir.ump.edu.my/id/eprint/21346
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