Motion Control of Wheeled Mobile Robots
نویسندگان
چکیده
The paper deals with the modeling and control strategies of the motion of wheeled mobile robots. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. First, the vehicle kinematics model and the control strategies using a feedforward compensator are analyzed. Second, fuzzy reactive control of a mobile robot motion in an unknown environment with obstacles are proposed. Finally, the mobile robot simulation is illustrated.
منابع مشابه
Fuzzy Motion Control for Wheeled Mobile Robots in Real-Time
Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...
متن کاملDynamical formation control of wheeled mobile robots based on fuzzy logic
In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...
متن کاملBackward and forward path following control of a wheeled robot
A wheeled mobile robot is one of the most important types of mobile robots. A subcategory of these robots is wheeled robots towing trailer(s). Motion control problem, especially in backward motion is one of the challenging research topics in this field. In this article, a control algorithm for path-following problem of a tractor-trailer system is provided, which at the same time provides the ab...
متن کاملTrajectory Tracking of Two-Wheeled Mobile Robots, Using LQR Optimal Control Method, Based On Computational Model of KHEPERA IV
This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best po...
متن کاملControl of Wheeled Mobile Manipulators with Flexible Suspension Considering Wheels Slip Effects
Wheeled mobile manipulators utilize both the locomotion capabilities of the wheeled platform and manipulation capacity of the arm. While the modelling and control of such systems have previously been studied, most of them have considered robots with rigid suspension and their wheels are subject to pure rolling conditions. To relax the aforementioned limiting assumptions, this research addresses...
متن کاملDynamic Modeling and Construction of a New Two-Wheeled Mobile Manipulator: Self-balancing and Climbing
Designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. For this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. Therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...
متن کامل