Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods

Ali, Mohammed A. H. and Musa, Mailah and Wan Azhar, Wan Yusoff and Zamzuri, Hamedon and Zulkifli, Md. Yusof (2015) Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods. In: Recent Advances in Electrical Engineering. Recent Advances in Electrical Engineering Series, 47 . WSEAS Press, Bulgaria, pp. 38-43. ISBN 978 -1-61804- 299 -6

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Abstract

A robust control algorithm for tracking the mobile robot in a pre-planned path during passing through complicated environments such as in roundabout is presented in this paper. The proposed algorithm is derived from the kinematic and dynamic of 3wheeled Non-holonomic mobile robot motion. The control scheme is performed using Resolved Acceleration Control, Active Force Control strategy or mixed of them in Simulink-MATLAB, which are compared with each other in the matter ofenabling the robot to follow the predefined path while applying disturbances. Results show the capability of this controller to track the robot on the pre-defined path and remove the effect of the disturbances.

Item Type:	Book Chapter
Additional Information:	Proceedings of the 15th International Conference on Robotics, Control and Manufacturing Technology (ROCOM '15) Proceedings of the 4th International Conference on Circuits, Systems, Communications, Computers and Applications (CSCCA '15)
Uncontrolled Keywords:	Non-holonomicWheeled Mobile robot, Lagrang-Eular Equation, Resolved Acceleration Control, Laser Simulator, Active Force Control Strategy, Fuzzy Logic.
Subjects:	T Technology > TS Manufactures
Faculty/Division:	Faculty of Manufacturing Engineering
Depositing User:	Mrs. Neng Sury Sulaiman
Date Deposited:	24 Jun 2015 02:44
Last Modified:	11 Apr 2018 04:01
URI:	http://umpir.ump.edu.my/id/eprint/9345
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