Design and Construction of a Mobile Robot with Regenerative Brake on Dc Motors

2014 ◽  
Author(s):  
Juan Ruiz ◽  
Erika Torres ◽  
Edwin Villarreal
Keyword(s):  
Mobile Robot ◽  
Dc Motors ◽  
Design And Construction

Fuzzy Logic Controller for Obstacle Avoidance of Mobile Robot

2019 ◽  
Vol 20 (1) ◽  
pp. 51-62
Author(s):  
Rajmeet Singh ◽  
Tarun Kumar Bera
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Dynamic Model ◽  
Obstacle Avoidance ◽  
Fuzzy Logic Controller ◽  
Fuzzy Controller ◽  
Bond Graph ◽  
Membership Functions ◽  
Current Position ◽  
Dc Motors

AbstractThis work describes design and implementation of a navigation and obstacle avoidance controller using fuzzy logic for four-wheel mobile robot. The main contribution of this paper can be summarized in the fact that single fuzzy logic controller can be used for navigation as well as obstacle avoidance (static, dynamic and both) for dynamic model of four-wheel mobile robot. The bond graph is used to develop the dynamic model of mobile robot and then it is converted into SIMULINK block by using ‘S-function’ directly from SYMBOLS Shakti bond graph software library. The four-wheel mobile robot used in this work is equipped with DC motors, three ultrasonic sensors to measure the distance from the obstacles and optical encoders to provide the current position and speed. The three input membership functions (distance from target, angle and distance from obstacles) and two output membership functions (left wheel voltage and right wheel voltage) are considered in fuzzy logic controller. One hundred and sixty-two sets of rules are considered for motion control of the mobile robot. The different case studies are considered and are simulated using MATLAB-SIMULINK software platform to evaluate the performance of the controller. Simulation results show the performances of the navigation and obstacle avoidance fuzzy controller in terms of minimum travelled path for various cases.

Application of Mobile Robots to Linear Control Theory Education

2020 ◽  
Vol 1 (3) ◽  
Author(s):  
Satoko Yamakawa
Keyword(s):  
Control Theory ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Control Systems ◽  
Linearization Method ◽  
Linear Control ◽  
Linear Control Systems ◽  
Control Engineering ◽  
Linear Control Theory ◽  
Dc Motors

Abstract The knowledge of control engineering for mechanical engineers seems to become more important with the continuous development of automated technologies. To cultivate this knowledge, many experimental devices have been proposed and used. Devices with direct current (DC) motors are widely used because the DC motors can be controlled with sufficient accuracy based on the classical linear control theory. Mobile robots are used as educational platforms attracting the attention of students in various problem-based learning subjects. However, they have been hardly used to teach linear control theory because of the nonlinearity. This paper shows an experimental curriculum to learn control theory using a mobile robot instead of a motor. Although the model of the mobile robot is nonlinear, a strict linearization method makes it possible to adjust the control gains using the linear control theory. By applying the method, the characteristics of linear control systems are explicitly observed in the traveling paths of the mobile robot, so an experimental curriculum to learn the basic linear control theory can be realized using an inexpensive mobile robot. The proposed experimental curriculum was carried out in a class of a mechanical engineering course, and its results are discussed in this paper.

scholarly journals Robust ℋ∞-Fuzzy Logic Control for Enhanced Tracking Performance of a Wheeled Mobile Robot in the Presence of Uncertain Nonlinear Perturbations

Sensors ◽  
2020 ◽  
Vol 20 (13) ◽  
pp. 3673 ◽  
Author(s):  
Nur Ahmad
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
Wheeled Mobile Robot ◽  
Tracking Performance ◽  
Model Parameters ◽  
Control Law ◽  
System Modelling ◽  
Nonlinear Perturbations ◽  
Model Errors ◽  
Dc Motors

Motion control involving DC motors requires a closed-loop system with a suitable compensator if tracking performance with high precision is desired. In the case where structural model errors of the motors are more dominating than the effects from noise disturbances, accurate system modelling will be a considerable aid in synthesizing the compensator. The focus of this paper is on enhancing the tracking performance of a wheeled mobile robot (WMR), which is driven by two DC motors that are subject to model parametric uncertainties and uncertain deadzones. For the system at hand, the uncertain nonlinear perturbations are greatly induced by the time-varying power supply, followed by behaviour of motion and speed. In this work, the system is firstly modelled, where correlations between the model parameters and different input datasets as well as voltage supply are obtained via polynomial regressions. A robust H ∞ -fuzzy logic approach is then proposed to treat the issues due to the aforementioned perturbations. Via the proposed strategy, the H ∞ controller and the fuzzy logic (FL) compensator work in tandem to ensure the control law is robust against the model uncertainties. The proposed technique was validated via several real-time experiments, which showed that the speed and path tracking performance can be considerably enhanced when compared with the results via the H ∞ controller alone, and the H ∞ with the FL compensator, but without the presence of the robust control law.

scholarly journals E-BOT PLATAFORMA ROBÓTICA DE APOYO EN LA ENSEÑANZA DE ALGORITMOS Y PROGRAMACIÓN

2021 ◽  
Vol 8 (16) ◽  
pp. 65-76
Author(s):  
JEFFERSON GÚTIERREZ ◽  
◽  
NICOLAS CALDERON ◽  
JOSE FRANCO
Keyword(s):  
Mobile Robot ◽  
Real World ◽  
Correct Operation ◽  
Support Tool ◽  
The Real ◽  
Design And Construction

This article presents the design and construction of a mobile robot (E-BOT) both in the hardware and in the software part, which works as a support tool for teaching processes and allows to consolidate learning in related topics. a Programming having as its scope repetitive structures, this through a series of previously constructed learning elements. E-BOT has a series of actuators (Led, oled, servomotor, motors) and sensors (ultrasound and reflective light) which are controlled by means of Arduino that allow an easy interaction of EBOT with the real world. Additionally, the construction of a verification software is carried out that allows us to validate the correct operation of all the modules built.

scholarly journals Algoritmo de seguimiento y planeación de trayectorias para un robot fertilizador en invernaderos

2019 ◽  
pp. 22-26
Author(s):  
Francisco Betanzos-Castillo ◽  
María Cecilia Becerra-Ambriz ◽  
Juan Morán-Hernández ◽  
Everardo Jiménez-Campuzano
Keyword(s):  
Mobile Robot ◽  
Production Costs ◽  
Early Stages ◽  
Automation Strategies ◽  
Design And Construction

The use of algorithms is a necessary activity for the design and construction, of any mobile robot. This study proposes an algorithm for future farm applications. Fertilization is an aspect that represents a third of the production costs. Robotics applied to agriculture, although in Mexico it is in the early stages of its development, the productive greenhouses are progressively automatized. Therefore, it is necessary to propose new automation strategies in the sector. As part of a stage of design and modeling of a virtual robot, this project proposes an algorithm of a 3D virtual robot prototype that allows visualizing and positioning in the 2D plane and thus having preliminary simulations for the subsequent construction of the Robot prototype.

scholarly journals Perancangan Dan Pembuatan Mobile Robot Smart Trash Bin Berbasis Bluetooth HC-05

Jurnal Teknik ◽  
2020 ◽  
Vol 9 (2) ◽  
Author(s):  
Mohamad Syafaat ◽  
Wulan Fitriani Safari ◽  
Syafrima Wahyu
Keyword(s):  
Waste Management ◽  
Mobile Robot ◽  
Servo Motor ◽  
Robot System ◽  
Design And Construction

Garbage is a problem that must be handled properly. Currently, technology and information are also used to assist waste management, namely the Smart Trash Bin. In this research, the design and construction of the Mobile Smart Trash Bin is carried out. The design of this smart trash bin not only has an automatic function to open and close the trash can, but also has a mobile function that allows the trash can to move closer to the person who is going to throw garbage. A smart trash bin mobile robot system is designed using a photodiode sensor as a line reader (track robot) and a servo motor is used to open and close the trash can. In addition, Bluetooth HC05 is used to activate the robot via voice commands from an android smartphone. The mobile robot smart trash bin runs according to the system designed.  Sampah merupakan permasalahan yang harus mendapatkan penangan yang tepat. Saat ini, teknologi dan informasi juga digunakan untuk membantu pengelolaan sampah yaitu dengan adanya tempat sampah pintar (Smart Trash Bin). Pada penelitian ini dilakukan perancangan dan pembuatan Mobile Smart Trash Bin. Rancangan smart trash bin ini tidak hanya memiliki fungsi otomastiasi buka tutup tempat sampah tetapi juga dilengkapi fungsi mobile yng memungkinkan tempat sampah untuk bergerak mendekati orang yang akan membuang sampah. Dirancang suatu sistem mobile robot smart trash bin dengan menggunakan sensor fotodioda sebagai pembaca garis (track robot), motor dc sebagai penggerak mundur maju robot dan motor servo digunakan untuk membuka dan menutup tempat sampah. Selain itu, Bluetooth HC05 digunakan untuk mengaktifkan robot melalui perintah suara dari smartphone android. Mobile robot smart trash bin berjalan sesuai dengan sistem yang dirancang. 

scholarly journals Holonomic Implementation of Three Wheels Omnidirectional Mobile Robot using DC Motors

2021 ◽  
Vol 2 (2) ◽  
Author(s):  
Riky Tri Yunardi ◽  
Deny Arifianto ◽  
Farhan Bachtiar ◽  
Jihan Intan Prananingrum
Keyword(s):  
Mobile Robot ◽  
Omnidirectional Mobile Robot ◽  
Dc Motors

The Design of Mobile Indoor Robot Guidance System

2018 ◽  
Vol 5 (1) ◽  
pp. 30-34
Author(s):  
Dhanny Kurniawan Haryanto ◽  
Kanisius Karyono ◽  
Samuel Hutagalung
Keyword(s):  
Mobile Robot ◽  
Global Position System ◽  
Indoor Positioning ◽  
Magnetic Sensor ◽  
Guidance System ◽  
Shopping Mall ◽  
Positioning System ◽  
Dc Motors ◽  
The Disabled ◽  
Indoor Positioning System

The mobile indoor robot guidance system is a mobile robot which can assist users to find the desired position or location indoor or inside particular shed where Global Position System (GPS) failed to perform. Robot guidance system has many features in order to make the system useful for all of the users. The type of user who can make use of this system is mostly the disabled user and the user which is unfamiliar with the environment or the map. There is also potential usage inside the shopping mall or the big office spaces with the capability of displaying the advertisement during guidance process. This work deploys robot guidance system using geo-magnetic and Wifi methods for Indoor Positioning System (IPS). Although DC motors can generate interference to the magnetic sensor, the proper shields are adequate for the system. The metal shields for the DC motor can minimize the deviation from 6.41n T or about 16.74% for non-shielding motors to 2.86 n T or about 10.56%. Based on this research, mobile indoor robot guidance system can be implemented using various methods of IPS including geo-magnetic.

scholarly journals Fuzzy Logic Controller sebagai Penentu Gerak Mobile Robot Pembasmi Hama

2020 ◽  
Vol 1 (01) ◽  
pp. 19-24
Author(s):  
Muhammad Ridho Kenawas ◽  
Pola Risma ◽  
Tresna Dewi ◽  
Selamet Muslimin ◽  
Yurni Oktarina
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robot ◽  
High Speed ◽  
Fuzzy Logic Controller ◽  
Pulse Width Modulation ◽  
Robot Motion ◽  
Crop Failure ◽  
Driving System ◽  
Dc Motors ◽  
Autonomous Decision

A mobile robot is one of the solutions to overcome crop failure caused by chili pests. The mobile robot discussed in this paper is used to spray pesticide liquid into chili plant stems to prevent pests attack on the plants. This paper discusses the design of pesticide spraying robot motion with the application of Fuzzy Logic Controller. This robot employment is expected to reduce farmers' workload and to help to produce a good harvest.  Robot motions are divided into two conditions, which can be controlled by remote control as a controller (manual) and by means of a sensor (automatic). Mobile robot movements have a significant impact on navigation and the design of the driving system. Robot speed is controller by adjusting Pulse Width Modulation of DC motors attached to the robots' wheel, which set to be  90 for slow and 220  for high speed. The Fuzzy Logic Controller in this mobile robot functions as an autonomous decision-making driver to detect obstacles in front of the mobile robot and the targeted stems.

scholarly journals 3 Bio-Mimetic Vision System For Autonomous Mobile Robot Navigation

2013 ◽  
Vol 3 (1) ◽  
pp. 4
Author(s):  
Muhammad Safwan ◽  
Muhammad Yasir Zaheen ◽  
M. Anwar Ahmed ◽  
Muhammad Shujaat Kamal ◽  
Raj Kumar
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Stereo Vision ◽  
Robot Navigation ◽  
Vision System ◽  
Experimental Results ◽  
Mobile Robot Navigation ◽  
Absolute Difference ◽  
Autonomous Mobile Robot ◽  
Dc Motors

Bio-Mimetic Vision System (BMVS) for AutonomousMobile Robot Navigation encompasses three major fields, namelyrobotics, navigation and obstacle avoidance. Bio-mimetic vision isbased on stereo vision. Summation of Absolute Difference (SAD)is applied on the images from the two cameras and disparity mapis generated which is then used to navigate and avoid obstacles.Camera calibration and SAD is applied on Matlab software.AT89C52 microcontroller, along with Matlab, is used to efficientlycontrol the DC motors mounted on the robot frame. It is observedfrom experimental results that the developed system effectivelydistinguishes objects at different distances and avoids them whenthe path is blocked.

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