Path Planning and Control of Mobile Robot in Road Environments Using Sensor Fusion and Active Force Control

2019 ◽  
Vol 68 (3) ◽  
pp. 2176-2195 ◽  
Author(s):  
Mohammed A. H. Ali ◽  
Musa Mailah
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Sensor Fusion ◽  
Force Control ◽  
Active Force ◽  
Planning And Control ◽  
Active Force Control ◽  
And Control

scholarly journals A simulation and experimental study on wheeled mobile robot path control in road roundabout environment

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141983477
Author(s):  
Mohammed AH Ali ◽  
Musa Mailah
Keyword(s):  
Experimental Study ◽  
Mobile Robot ◽  
Force Control ◽  
Control Algorithm ◽  
Dynamic Modelling ◽  
Wheeled Mobile Robot ◽  
Active Force ◽  
Active Force Control ◽  
Novel Approach ◽  
Resolved Acceleration Control

A robust control algorithm for tracking a wheeled mobile robot navigating in a pre-planned path while passing through the road’s roundabout environment is presented in this article. The proposed control algorithm is derived from both the kinematic and dynamic modelling of a non-holonomic wheeled mobile robot that is driven by a differential drive system. The road’s roundabout is represented in a grid map and the path of the mobile robot is determined using a novel approach, the so-called laser simulator technique within the roundabout environment according to the respective road rules. The main control scheme is experimented in both simulation and experimental study using the resolved-acceleration control and active force control strategy to enable the robot to strictly follow the predefined path in the presence of disturbances. A fusion of the resolved-acceleration control–active force control controller with Kalman Filter has been used empirically in real time to control the wheeled mobile robot in the road’s roundabout setting with the specific purpose of eliminating the noises. Both the simulation and the experimental results show the capability of the proposed controller to track the robot in the predefined path robustly and cancel the effect of the disturbances.

Robust Intelligent Active Force Control Of Nonholonomic Wheeled Mobile Robot

2006 ◽  
Vol 44 (1) ◽  
Author(s):  
H. H. Tang ◽  
Musa Mailah ◽  
M. Kasim A. Jalil
Keyword(s):  
Mobile Robot ◽  
Force Control ◽  
Wheeled Mobile Robot ◽  
Active Force ◽  
Active Force Control

A hybrid active force control of a lower limb exoskeleton for gait rehabilitation

2018 ◽  
Vol 63 (4) ◽  
pp. 491-500 ◽  
Author(s):  
Zahari Taha ◽  
Anwar P.P. Abdul Majeed ◽  
Amar Faiz Zainal Abidin ◽  
Mohammed A. Hashem Ali ◽  
Ismail Mohd Khairuddin ◽  
...  
Keyword(s):  
Force Control ◽  
Lower Limb ◽  
Sagittal Plane ◽  
Joint Space ◽  
Gait Rehabilitation ◽  
Active Force ◽  
Lower Limb Exoskeleton ◽  
Active Force Control ◽  
Increasing Demand ◽  
And Control

Abstract Owing to the increasing demand for rehabilitation services, robotics have been engaged in addressing the drawbacks of conventional rehabilitation therapy. This paper focuses on the modelling and control of a three-link lower limb exoskeleton for gait rehabilitation that is restricted to the sagittal plane. The exoskeleton that is modelled together with a human lower limb model is subjected to a number of excitations at its joints while performing a joint space trajectory tracking, to investigate the effectiveness of the proposed controller in compensating disturbances. A particle swarm optimised active force control strategy is proposed to facilitate disturbance rejection of a conventional proportional-derivative (PD) control algorithm. The simulation study provides considerable insight into the robustness of the proposed method in attenuating the disturbance effect as compared to the conventional PD counterpart without compromising its tracking performance. The findings from the study further suggest its potential employment on a lower limb exoskeleton.

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