Local Path-Tracking Strategies for Mobile Robots Using PID Controllers

2013 ◽  
pp. 58-79
Author(s):  
Lluis Pacheco ◽  
Ningsu Luo
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Path Following ◽  
Research Topic ◽  
Pid Controllers ◽  
Good Communication ◽  
Nonholonomic Robots ◽  
Robot Positioning ◽  
Local Path ◽  
Control Methodology

Accurate path following is an important mobile robot research topic. In many cases, radio controlled robots are not able to work properly due to the lack of a good communication system. This problem can cause many difficulties when robot positioning is regarded. In this context, gaining automatic abilities becomes essential to achieving a major number of mission successes. This chapter presents a suitable control methodology used to achieve accurate path following and positioning of nonholonomic robots by using PID controllers. An important goal is to present the obtained experimental results by using the available mobile robot platform that consists of a differential driven one.

scholarly journals Local Path Planning of Mobile Robot Using Critical-PointBug Algorithm Avoiding Static Obstacles

2016 ◽  
Vol 5 (3) ◽  
pp. 182
Author(s):  
SUBIR KUMAR DAS
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Autonomous Mobile Robot ◽  
Limited Information ◽  
Surrounding Environment ◽  
Local Path Planning ◽  
Planning Algorithms ◽  
Local Path ◽  
Complete Path

<p align="left">Path planning is an essential task for the navigation of Autonomous Mobile Robot. This is one of the basic problems in robotics. Path planning algorithms are classified as global or local, depending on the knowledge of surrounding environment. In local path planning, the environment is unknown to the robot, and sensors are used to detect the obstacles and to avoid collision. Bug algorithms are one of the frequently used path planning algorithms where a mobile robot moves to the target by detecting the nearest obstacle and avoiding it with limited information about the environment. This proposed Critical-PointBug algorithm, is a new Bug algorithm for path planning of mobile robots. This algorithm tries to minimize traversal of obstacle border by searching few important points on the boundary of obstacle area as a rotation point to goal and end with a complete path from source to goal.</p>

scholarly journals Energy Estimation Based on Path Tracking for a Differential Drive Wheeled Mobile Robot

2021 ◽  
Vol 229 ◽  
pp. 01029
Author(s):  
Said Fadlo ◽  
Nabila Rabbah ◽  
Abdelhafid Ait Elmahjoub
Keyword(s):  
Energy Consumption ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Complex Analysis ◽  
Path Following ◽  
Path Tracking ◽  
Energy Estimation ◽  
Analysis And Design ◽  
Differential Drive ◽  
Model Complex

To improve the energy efficiency of mobile robots and increase their time of operation, a comprehensive energy model is needed. Having such a model requires a lot of complex analysis and design time. There has been a lot of research into optimizing the power consumption of mobile robots but have not benefited from the advantages of languages to model complex cyber-physical systems. In this work, we used the Simscape™ MATLAB® environment to simplify and speed up the design of an energy consumption model of a differential drive mobile robot. We also estimated the energy consumption of the mobile in a different path tracking scenario. Our results show that is possible to obtain a good accuracy of path following with acceptable energy consumption.

scholarly journals Design and Analysis of Indoor Mobile Robot Positioning Technology

2021 ◽  
Vol 2074 (1) ◽  
pp. 012002
Author(s):  
Dongqing Jiang ◽  
Chunxiang Dai
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Technology Research ◽  
High Demand ◽  
Effective Evaluation ◽  
Indoor Mobile Robot ◽  
Development Direction ◽  
Robot Positioning ◽  
Robot Technology ◽  
Further Development

Abstract In the field of mobile robot technology research, positioning technology is one of the core technologies, so it has been widely concerned in the field of industry. Due to the limitation of space, indoor mobile robots often have a high demand for their own position confirmation in the process of operation. Therefore, exploration based on positioning technology is very important for the further development of indoor mobile robots. Based on the research on the positioning technology of wheeled indoor mobile robot, this paper will make an effective evaluation on the future development direction of indoor mobile robot technology.

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

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