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Control of wheeled mobile robot in restricted environment

Chang, Yong En (2017) Control of wheeled mobile robot in restricted environment. Faculty of Manufacturing Engineering, Universiti Malaysia Pahang.

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Abstract

This project is a study of control of wheeled mobile robot in restricted environment. A wheeled mobile robot with 3 wheels is fabricated and it is control by a proportional derivative active force control (PD-AFC) to move in a pre-planned restricted environment to perform minimum track error. The kinematic and dynamic parameters of the mobile robot are considered. For the controller, a control system with two loops, outer and inner loop is designed to control the wheeled mobile robot. Fuzzy logic controller is implemented in the SIMULINK to estimate the Inertia Matrix that will be used to calculate actual torque applied on the wheeled mobile robot. The mobile robot is tested in circular path. The results are recorded and analyze. However, the movement of the wheeled mobile robot in actual path and desired path are compared.

Item Type: Undergraduates Project Papers
Additional Information: Project Paper (Bachelor of Engineering in Mechatronics Engineering) -- Universiti Malaysia Pahang – 2017, SV: DR. MOHAMMED ABDO HASHEM, NO. CD: 11830
Uncontrolled Keywords: Wheeled mobile robot; restricted environment; kinematic; dynamic
Subjects: T Technology > TS Manufactures
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: Mrs. Sufarini Mohd Sudin
Date Deposited: 29 Sep 2019 04:38
Last Modified: 30 Sep 2019 01:51
URI: http://umpir.ump.edu.my/id/eprint/25921
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