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...

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Main Authors:	Chang, Yong En, Ali, Mohammed A. H.
Format:	Conference or Workshop Item
Language:	English English
Published:	Institute of Physics Publishing 2018
Subjects:	TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/20462/ http://umpir.ump.edu.my/id/eprint/20462/ 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

id	ump-20462
recordtype	eprints
spelling	ump-204622018-05-21T05:32:39Z 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
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TS Manufactures
spellingShingle	TS Manufactures Chang, Yong En Ali, Mohammed A. H. Control of wheeled mobile robot in restricted environment
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.
format	Conference or Workshop Item
author	Chang, Yong En Ali, Mohammed A. H.
author_facet	Chang, Yong En Ali, Mohammed A. H.
author_sort	Chang, Yong En
title	Control of wheeled mobile robot in restricted environment
title_short	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_sort	control of wheeled mobile robot in restricted environment
publisher	Institute of Physics Publishing
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/20462/ http://umpir.ump.edu.my/id/eprint/20462/ 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
first_indexed	2023-09-18T22:29:31Z
last_indexed	2023-09-18T22:29:31Z
_version_	1777416191105564672

Control of wheeled mobile robot in restricted environment

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