The autonomous wheeled mobile robots (AWMR) are subjected to high demands concerning stability, controllability and safety. Therefore, it becomes very important to devise the effective and efficient control strategies for such system to get desired system dynamic performance. In this paper the state space model of the system has been developed, the dynamic behavior of the system has been studied and then optimal controllers are designed using full state feedback control strategy. The optimal controllers are designed for various operating conditions using pole placement technique. The dynamic response plots are obtained for various system states considering various operating conditions. The investigations of these reveal that the implementation of optimal controllers offer not only good dynamic performance, also ensure system dynamic stability.
KeywordsAutonomous wheeled mobile robot (AWMR), Linear quadratic regulator (LQR), Error weighting matrix Q, Control weighting matrix R,
The present article is devoted to develop an algorithm for obstacle avoidance of an autonomous mobile robot based on fuzzy logic/ The method of navigation proposed provides a way of blending the intelligence and optimality of global methods with the reactive dynamic behavior of local ones. This is achieved by using hybrid navigation system composed of two modules, one of which uses the apriori information and determines roughly the optimal route towards the goal, whereas the other carries out effective navigation decisions using the potential function based local approach. The fuzzy rules are constructed from intuitive and subjective human ways of collision avoidance. The results of the present study are compares favorably with those of well-established algorithms.
The stabilization, tracking and pointing systems are essential features of modern fire control and surveillance systems. The criteria for precision stabilization may vary from a few hundred micro-radians to few nano-radians for achieving jitter free image depending upon the application scenario. The Line of sight (LOS) is stabilized by mounting the optical payload on a gimbal platform and designing the control system around them. The paper describes a choquet fuzzy integral based control algorithm developed for LOS controlling and stabilizing application. In this approach, q-measure is estimated to simplify the computation of λ-measure that aggregates the information from the weighted inputs. The output of fuzzy rules, which are formulated by defining the product of weighted inputs are required to compute the fuzzy measure in the form of Choquet fuzzy integral.
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