Hierarchical controller for obstacle avoidance task in WMRs considering actuators and power electronics subsystems: When artificial potential fields approach is used
Through the development of a three-level hierarchical controller, this study proposes a solution to the obstacle avoidance task in wheeled mobile robots (WMRs). The proposed controller takes into consideration the dynamics of the three subsystems that typically compose a WMR (mechanical structure, a...
Main Authors: | , , , , , , , |
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Format: | Article |
Language: | English |
Published: |
Elsevier
2024-03-01
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Series: | e-Prime: Advances in Electrical Engineering, Electronics and Energy |
Subjects: | |
Online Access: | http://www.sciencedirect.com/science/article/pii/S2772671124000366 |