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An overview on real-time control schemes for wheeled mobile robot

M. S. A., Radzak and Ali, Mohammed A. H. and S., Sha'amri and A. R., Azwan (2018) An overview on real-time control schemes for wheeled mobile robot. In: International Conference on Innovative Technology, Engineering and Sciences (iCITES 2018), 1-2 March 2018 , Universiti Malaysia Pahang, Pahang, Malaysia. pp. 1-5., 342 (1). ISSN 1757-8981

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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 at zero level. The controllers are used with other aiding sensors to measure the WMR's velocities, posture, and interference to estimate the required torque to be applied on the wheels of mobile robot. Four main categories for wheeled mobile robot control systems 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 the control system. The real-time toolbox in MATLAB/SIMULINK are used to receive/send data from sensors/to actuator with presence of disturbances, however others software such C, C++ and visual basic are rare to be used.

Item Type: Conference or Workshop Item (Lecture)
Additional Information: Indexed by SCOPUS
Uncontrolled Keywords: C++ (programming language); Computer control systems; Controllers; Intelligent robots; MATLAB
Subjects: T Technology > TS Manufactures
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 22 Apr 2019 04:45
Last Modified: 22 Apr 2019 04:45
URI: http://umpir.ump.edu.my/id/eprint/23090
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