Weighted-Sum Extended Bat Algorithm Based PD Controller Design for Wheeled Mobile Robot

For a four wheeled mobile robot a trajectory tracking concept is developed based on its kinematics. A trajectory is a time–indexed path in the plane consisting of position and orientation. The mobile robot is modeled as a non holonomic system subject to pure rolling, no slip constraints. To facilitate the controller design the kinematic equation can be converted into chained form using some change of co-ordinates. From the kinematic model of the robot a backstepping based tracking controller is derived. Simulation results demonstrate such trajectory tracking strategy for the kinematics indeed gives rise to an effective methodology to follow the desired trajectory asymptotically.

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H-Infinity Controller Design of Two-Wheeled Mobile Robot Under Disturbance

2021 International Seminar on Intelligent Technology and Its Applications (ISITIA) ◽

10.1109/isitia52817.2021.9502218 ◽

2021 ◽

Author(s):

Muhamad Rausyan Fikri ◽

Djati Wibowo Djamari ◽

Steven Mark Levy

Keyword(s):

Mobile Robot ◽

Controller Design ◽

Wheeled Mobile Robot ◽

H Infinity

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PID Controller Design for Mobile Robot Using Bat Algorithm with Mutation (BAM)

Proceeding of the Electrical Engineering Computer Science and Informatics ◽

10.11591/eecsi.v6i0.1996 ◽

2019 ◽

Vol 6 (0) ◽

Author(s):

Dwi Pebranti ◽

Luhur Bayuaji ◽

Yogesvaran Arumgam ◽

Indra Riyanto ◽

Muhammad Syafrullah ◽

...

Keyword(s):

Mobile Robot ◽

Pid Controller ◽

Controller Design ◽

Bat Algorithm ◽

Pid Controller Design

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A Cognition Path Planning with a Nonlinear Controller Design for Wheeled Mobile Robot Based on an Intelligent Algorithm

Journal of Engineering ◽

10.31026/j.eng.2019.01.06 ◽

2018 ◽

Vol 25 (1) ◽

pp. 64-83

Author(s):

Ahmed S. Al-Araji ◽

Attarid K. Ahmed ◽

Khulood E. Dagher

Keyword(s):

Path Planning ◽

Mobile Robot ◽

Controller Design ◽

Optimal Path ◽

Tracking Error ◽

Pso Algorithm ◽

Wheeled Mobile Robot ◽

Torque Control ◽

Nonlinear Controller ◽

Reference Path

This paper presents a cognition path planning with control algorithm design for a nonholonomic wheeled mobile robot based on Particle Swarm Optimization (PSO) algorithm. The aim of this work is to propose the circular roadmap (CRM) method to plan and generate optimal path with free navigation as well as to propose a nonlinear MIMO-PID-MENN controller in order to track the wheeled mobile robot on the reference path. The PSO is used to find an online tune the control parameters of the proposed controller to get the best torques actions for the wheeled mobile robot. The numerical simulation results based on the Matlab package show that the proposed structure has a precise and highly accurate distance of the generated reference path as well as it has obtained a perfect torque control action without spikes and no saturation torque state that leads to minimize the tracking error for the wheeled mobile robot.

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Indoor Map Building by Laser Sensor and Positioning Algorithms

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.764-765.752 ◽

2015 ◽

Vol 764-765 ◽

pp. 752-756 ◽

Cited By ~ 2

Author(s):

Jih Gau Juang ◽

Jia An Wang

Keyword(s):

Mobile Robot ◽

Indoor Localization ◽

Controller Design ◽

Fuzzy Theory ◽

Wheeled Mobile Robot ◽

Laser Sensor ◽

Map Building ◽

Map Comparison ◽

Localization System ◽

Unknown Environment

This study uses a wheeled mobile robot (WMR) to explore unknown indoor environment and build up a map of the unknown environment. The robot utilizes laser measurement sensor with a indoor localization system to detect obstacles and identify unknown environment. The localization system provides the position of the robot and is used for map comparison. Fuzzy theory is applied to controller design. The proposed control scheme can control the wheeled mobile robot move along walls and avoid obstacles. The Iterative Closest Point (ICP) and the KD-tree are utilized. With sensed data of obstructions and walls, a map of unknown environment can be generated by curve fitting methods.

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