Decentralized Motion Control for Omnidirectional Wheelchair Tracking Error Elimination Using PD-Fuzzy-P and GA-PID Controllers

Abstract

The last decade observed a significant research effort directed towards maneuverability and safety of mobile robots such as smart wheelchairs. The conventional electric wheelchair can be equipped with motorized omnidirectional wheels and several sensors serving as inputs for the controller to achieve smooth, safe, and reliable maneuverability. This work uses the decentralized algorithm to control the motion of omnidirectional wheelchairs. In the body frame of the omnidirectional wheeled wheelchair there are three separated independent components of motion including rotational motion, horizontal motion, and vertical motion, which can be controlled separately. So, each component can have its different sub-controller with a minimum tracking error. The present work aims to enhance the mobility of wheelchair users by utilizing an application to control the motion of their attained/unattained smart wheelchairs, especially in narrow places and at hard detours such as 90˚ corners and U-turns, which improves the quality of life of disabled users by facilitating their wheelchairs’ maneuverability. Two approaches of artificial intelligent-based controllers (PD-Fuzzy-P and GA-PID controllers) are designed to optimally enhance the maneuverability of the system. MATLAB software is used to simulate the system and calculate the Mean Error (ME) and Mean Square Error (MSE) for various scenarios in both approaches, the results showed that the PD-Fuzzy-P controller has a faster convergence in trajectory tracking than the GA-PID controller. Therefore, the proposed system can find its application in many areas including transporting locomotor-based disabled individuals and geriatric people as well as automated guided vehicles.

Implementation of Omni-D Tele-Presence Robot Using Kalman Filter and Tricon Ultrasonic Sensors

“…Based on the angular velocities, the PWM (pulse-width modulation) signals are generated for the speed of the DC gear motors. We integrate and tune the famous PID controller (a famous type of a controller) to control the speed of the DC gear motors [ 34 ]. In the next step, position, velocity and orientation vectors are fed to Zero-Order Hold (ZOH) for the practical signal reconstruction.…”

“…The TPR is implemented by using the components presented in Table 3 . To stabilize the speed of the utilized motors, the PID controller is used along with the omnidirectional control, as used in [ 34 ].…”

Optimal PID Control of a Brushed DC Motor with an Embedded Low-Cost Magnetic Quadrature Encoder for Improved Step Overshoot and Undershoot Responses in a Mobile Robot Application

“…In certain applications such as mobile robots, most research papers usually state the use of PID controllers without completely describing the PID implementation details, the tuning procedure, or the encoder used (or planned) to measure the velocity of the motors [ 32 , 33 , 34 , 35 , 36 , 37 ]. The main contribution of this paper is the complete and accurate practical description of the PID controllers implemented in a medium-sized (1.76 cm tall) omnidirectional mobile robot, which uses three BDCM to directly drive its three omnidirectional wheels ( Figure 1 ).…”

PID Control Schematic Design for Omni-directional wheel mobile robot Cilacap State of Polytechnic

“…This robot can be said to be a holonomic robot [1]. OMR has several configurations that affect the kinematic equation of each configuration, there are three OMRs with 120 degrees different angles while OMR with four wheels which have 90 degrees different angles [2][3].…”