scholarly journals Corridor navigation robot using Bond graph

2019 ◽  
Author(s):  
Mohammad Reza Bahrami
Keyword(s):  
Mobile Robot ◽  
Robot Control ◽  
Control Method ◽  
Bond Graph ◽  
Ir Sensors ◽  
Mobile Robot Control ◽  
Stationary Obstacles ◽  
Wall Following

In this research we are trying to find a mobile robot control method for corridor navigation and wall following in a partially known environment, when obstacles trajectory is unknown or information about it is incomplete, and the environment consists of stationary obstacles. Gathering information of the robot traveling is based on IR sensors. The aim of the robot is to select avoidance maneuvers to avoid collision with obstacles.

scholarly journals Approximation Possibilities of Fuzzy Control Surfaces for Purpose of Implementation into Microcontrollers

Processes ◽  
2021 ◽  
Vol 9 (9) ◽  
pp. 1602
Author(s):  
Martin Olejár ◽  
Dušan Marko ◽  
Ondrej Lukáč ◽  
Marta Harničárová ◽  
Jan Valíček
Keyword(s):  
Fuzzy Control ◽  
Mobile Robot ◽  
Robot Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Computation Time ◽  
Control Area ◽  
Exponential Functions ◽  
Mobile Robot Control ◽  
Control Surfaces

The main contribution of the paper is the simplification of the computational process of fuzzy control of a mobile robot controlled by a microcontroller. We present a way to implement this control method with a reduced computation time of control actions and memory demand. Our way to accomplish this, was to replace the fuzzy controller with the approximation of its resulting control surfaces. In the paper, we use the previously presented approximation by the table and describe other methods of approximation of the control area through polynomial and exponential function. We tested all approximation methods in simulations and with a real mobile robot. Based on the measured trajectory of the EN20 mobile robot, we found that approximation through the table is the most accurate in terms of the fuzzy surface but delivers noticeable oscillations of mobile robot control in real conditions. Polynomial and exponential functions fuzzy surface approximations were less accurate than the table, but provide smoother control based on robot trajectories and are much more appropriate in terms of microcontroller implementation due to lower demand on memory.

Design of Three-Wheel Mobile Robot Control System

2012 ◽  
Vol 184-185 ◽  
pp. 1550-1553
Author(s):  
Ying Xu ◽  
Liang Wang ◽  
Jin Tan Duan ◽  
Ying Long Peng
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Motion Control ◽  
Structural Design ◽  
Robot Control ◽  
Control Method ◽  
Hierarchical Control ◽  
Experimental Tests ◽  
Mobile Robot Control ◽  
Working Principle

The structure and working principle of motion control system for a three-wheel mobile robot was designed in this paper, it make use of hierarchical control method. AT89S52 was selected as core - controller of bottom control system, completing the structural design of the robot, system's hardware and software design. Through experimental tests, the robot motion control meet the intended requirements.

scholarly journals Mobile Robot Control Using Bond Graph and Flatness Based Approach

2018 ◽  
Vol 133 ◽  
pp. 213-221
Author(s):  
Saumya Ranjan Sahoo ◽  
Shital S. Chiddarwar
Keyword(s):  
Mobile Robot ◽  
Robot Control ◽  
Bond Graph ◽  
Mobile Robot Control
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