Robotics
Mohammad Falsafi; Khalil Alipour; Bahram Tarvirdizadeh
Abstract
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 ...
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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 also, computer simulation of the system, first the system model is derived at the level of kinematics. The system model is nonholonomic. Then a simple non-mode-based controller based on fuzzy logic will be proposed. The control input resulted from fuzzy logic will then be corrected to fulfill the actuation saturation limits and non-slipping condition. To prove the efficiency of the suggested controller, its response, in terms of the required computational time burden and tracking error, will be compared with a previously suggested method. The obtained simulation results support the superiority of fuzzy based method over a previous study in terms of the considered measures.
Robotics
k. Alipour; m. Ghiasvand; B. Tarvirdizadeh
Abstract
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, ...
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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, in order to generate and keep the desired formation, a Fuzzy Logic Controller is designed. In this regard, the leader mobile robot is controlled to follow a reference path and the follower robots use the Fuzzy Logic Controller to keep constant relative distance and constant angle with respect to the leader. The efficiency of the suggested dynamics-based formation controller has been proved using several computer simulations under different situations and desired trajectories. Also, the performance of the follower robot in path tracking is checked in the presence of receiving noisy data from the leader robot.
