Control of wheeled mobile robot in restricted environment
This paper presents a simulation and practical control system for wheeled mobile robot in restricted environment. A wheeled mobile robot with 3 wheels is fabricated and controlled by proportional derivative active force control (PD-AFC) to move in a pre-planned restricted environment to maintain the...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
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Institute of Physics Publishing
2018
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/20462/1/Control%20of%20Wheeled%20Mobile%20Robot%20in%20Restricted%20Environment.pdf http://umpir.ump.edu.my/id/eprint/20462/7/Control%20of%20Wheeled%20Mobile%20Robot%20in%20Restricted%20Environment%201.pdf |
| _version_ | 1796992574334959616 |
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| author | Chang, Yong En Ali, Mohammed A. H. |
| author_facet | Chang, Yong En Ali, Mohammed A. H. |
| author_sort | Chang, Yong En |
| collection | UMP |
| description | This paper presents a simulation and practical control system for wheeled mobile robot in restricted environment. A wheeled mobile robot with 3 wheels is fabricated and controlled by proportional derivative active force control (PD-AFC) to move in a pre-planned restricted environment to maintain the tracking errors at zero level. A control system with two loops, outer by PD controller and inner loop by Active Force Control, are designed to control the wheeled mobile robot. Fuzzy logic controller is implemented in the Active force Control to estimate the inertia matrix that will be used to calculate the actual torque applied on the wheeled mobile robot. The mobile robot is tested in two different trajectories, namely are circular and straight path. The actual path and desired path are compared. |
| first_indexed | 2024-03-06T12:22:00Z |
| format | Conference or Workshop Item |
| id | UMPir20462 |
| institution | Universiti Malaysia Pahang |
| language | English English |
| last_indexed | 2024-03-06T12:22:00Z |
| publishDate | 2018 |
| publisher | Institute of Physics Publishing |
| record_format | dspace |
| spelling | UMPir204622018-05-21T05:32:39Z http://umpir.ump.edu.my/id/eprint/20462/ Control of wheeled mobile robot in restricted environment Chang, Yong En Ali, Mohammed A. H. TS Manufactures This paper presents a simulation and practical control system for wheeled mobile robot in restricted environment. A wheeled mobile robot with 3 wheels is fabricated and controlled by proportional derivative active force control (PD-AFC) to move in a pre-planned restricted environment to maintain the tracking errors at zero level. A control system with two loops, outer by PD controller and inner loop by Active Force Control, are designed to control the wheeled mobile robot. Fuzzy logic controller is implemented in the Active force Control to estimate the inertia matrix that will be used to calculate the actual torque applied on the wheeled mobile robot. The mobile robot is tested in two different trajectories, namely are circular and straight path. The actual path and desired path are compared. Institute of Physics Publishing 2018-03 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/20462/1/Control%20of%20Wheeled%20Mobile%20Robot%20in%20Restricted%20Environment.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/20462/7/Control%20of%20Wheeled%20Mobile%20Robot%20in%20Restricted%20Environment%201.pdf Chang, Yong En and Ali, Mohammed A. H. (2018) Control of wheeled mobile robot in restricted environment. In: 4th Asia Pacific Conference on Manufacturing Systems and the 3rd International Manufacturing Engineering Conference, APCOMS-iMEC 2017 , 7-8 December 2017 , Yogyakarta, Indonesia. pp. 1-7., 319 (1). ISSN 17578981 http://iopscience.iop.org/article/10.1088/1757-899X/319/1/012057/pdf |
| spellingShingle | TS Manufactures Chang, Yong En Ali, Mohammed A. H. Control of wheeled mobile robot in restricted environment |
| title | Control of wheeled mobile robot in restricted environment |
| title_full | Control of wheeled mobile robot in restricted environment |
| title_fullStr | Control of wheeled mobile robot in restricted environment |
| title_full_unstemmed | Control of wheeled mobile robot in restricted environment |
| title_short | Control of wheeled mobile robot in restricted environment |
| title_sort | control of wheeled mobile robot in restricted environment |
| topic | TS Manufactures |
| url | http://umpir.ump.edu.my/id/eprint/20462/1/Control%20of%20Wheeled%20Mobile%20Robot%20in%20Restricted%20Environment.pdf http://umpir.ump.edu.my/id/eprint/20462/7/Control%20of%20Wheeled%20Mobile%20Robot%20in%20Restricted%20Environment%201.pdf |
| work_keys_str_mv | AT changyongen controlofwheeledmobilerobotinrestrictedenvironment AT alimohammedah controlofwheeledmobilerobotinrestrictedenvironment |