Improving maneuverability of wheeled mobile robots by exploiting lateral slip

We have witnessed a significant advancement in the field of mobile robot applications in the past two decades. From performing mission critical tasks such as in planetary exploration to simply doing household chores, this type of robots requires availability, reliability and safety of its operatio...

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Main Authors:	Sidek, Shahrul Na'im, Sarkar, Nilanjan
Format:	Article
Language:	English
Published:	World Scientific and Engineering Acadddemy and Society (WSEAS) 2007
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://irep.iium.edu.my/2195/ http://irep.iium.edu.my/2195/ http://irep.iium.edu.my/2195/1/2007WSEAS_FDI_framework.pdf

id	iium-2195
recordtype	eprints
spelling	iium-21952012-04-04T00:56:57Z http://irep.iium.edu.my/2195/ Improving maneuverability of wheeled mobile robots by exploiting lateral slip Sidek, Shahrul Na'im Sarkar, Nilanjan TK Electrical engineering. Electronics Nuclear engineering We have witnessed a significant advancement in the field of mobile robot applications in the past two decades. From performing mission critical tasks such as in planetary exploration to simply doing household chores, this type of robots requires availability, reliability and safety of its operations. Consequently, there is a growing demand for fault tolerant control system (FTCS) for mobile robots where one of it major component is the fault detection and isolation (FDI) module. In our FDI study, one of the challenges in designing the robot model is to create an accurate and robust dynamics model. In this paper, the environment structure, which is the dynamic change in the surface characteristics, will be included. We will utilize Local Neural Model (LNM) in our robot modeling process. Wheel slippage is an event happened when the robot wheels lose their full grasp of the surface. This may cause the robot to deviate from its desired trajectory. On the other hand, the fault on the robot actuator may also lead to similar behavior but need different solution. In this paper we will expand the functionality of FDI module to infer a real actuator fault and wheel slippage in which, the solutions for both events can be combined in a single, common controller. World Scientific and Engineering Acadddemy and Society (WSEAS) 2007-02 Article PeerReviewed application/pdf en http://irep.iium.edu.my/2195/1/2007WSEAS_FDI_framework.pdf Sidek, Shahrul Na'im and Sarkar, Nilanjan (2007) Improving maneuverability of wheeled mobile robots by exploiting lateral slip. WSEAS Transactions on Systems . (1-4). ISSN 2224-2678 (O), 1109-2777 (P) http://www.worldses.org/journals/systems/index.html
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Sidek, Shahrul Na'im Sarkar, Nilanjan Improving maneuverability of wheeled mobile robots by exploiting lateral slip
description	We have witnessed a significant advancement in the field of mobile robot applications in the past two decades. From performing mission critical tasks such as in planetary exploration to simply doing household chores, this type of robots requires availability, reliability and safety of its operations. Consequently, there is a growing demand for fault tolerant control system (FTCS) for mobile robots where one of it major component is the fault detection and isolation (FDI) module. In our FDI study, one of the challenges in designing the robot model is to create an accurate and robust dynamics model. In this paper, the environment structure, which is the dynamic change in the surface characteristics, will be included. We will utilize Local Neural Model (LNM) in our robot modeling process. Wheel slippage is an event happened when the robot wheels lose their full grasp of the surface. This may cause the robot to deviate from its desired trajectory. On the other hand, the fault on the robot actuator may also lead to similar behavior but need different solution. In this paper we will expand the functionality of FDI module to infer a real actuator fault and wheel slippage in which, the solutions for both events can be combined in a single, common controller.
format	Article
author	Sidek, Shahrul Na'im Sarkar, Nilanjan
author_facet	Sidek, Shahrul Na'im Sarkar, Nilanjan
author_sort	Sidek, Shahrul Na'im
title	Improving maneuverability of wheeled mobile robots by exploiting lateral slip
title_short	Improving maneuverability of wheeled mobile robots by exploiting lateral slip
title_full	Improving maneuverability of wheeled mobile robots by exploiting lateral slip
title_fullStr	Improving maneuverability of wheeled mobile robots by exploiting lateral slip
title_full_unstemmed	Improving maneuverability of wheeled mobile robots by exploiting lateral slip
title_sort	improving maneuverability of wheeled mobile robots by exploiting lateral slip
publisher	World Scientific and Engineering Acadddemy and Society (WSEAS)
publishDate	2007
url	http://irep.iium.edu.my/2195/ http://irep.iium.edu.my/2195/ http://irep.iium.edu.my/2195/1/2007WSEAS_FDI_framework.pdf
first_indexed	2023-09-18T20:09:43Z
last_indexed	2023-09-18T20:09:43Z
_version_	1777407396431265792

Improving maneuverability of wheeled mobile robots by exploiting lateral slip

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