Trajectory Tracking of a Nonholonomic Wheeleed Mobile Robot Using Hybrid Controller

Ali, Zain Anwar; Wang, Daobo; Safwan, Muhammad; Jiang, Wanyue; Shafiq, Muhammad

doi:10.7763/ijmo.2016.v6.518

Cited by 14 publications

(2 citation statements)

References 18 publications

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“…Moreover, the trend of implementing hybrid control algorithms is also popular i.e. F-PID, control algorithm [11].…”

Section: Controller Designmentioning

confidence: 99%

Prototyping Non-holonomic Hovercraft for Path Planning and Obstacle Avoidance

Abro,

Anwar Ali,

Jabeen

2019

SSURJET

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— By definition, autonomous control systems are thesystems that sense the physical quantities from their environmentand may execute any dirty, difficult, dull and dangerous taskwithout any intervention. These systems are mostly used in thetransportation of large packages from one place to anotherautonomously by selecting the shortest path, accurate speed andobstacle avoidance. This paper describes the development offuzzy based PID control algorithm to tackle the dynamicconstraints of localization for proposed non-holonomichovercraft. Furthermore, in order to monitor the hovercraft thatwhether it is hovering in a familiar or strange environment;paper suggests the incorporation of digital image processingtechnique which will regularly correlate, the images beingcaptured by the prototype. Moreover, paper methodology alsoprovides the deployment way along with the interfacingtechniques of some configurable sensors, which will share theinformation related to the surroundings of hovercraft usinginternet of things (IoT).

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“…Moreover, the trend of implementing hybrid control algorithms is also popular i.e. F-PID, control algorithm [11].…”

Section: Controller Designmentioning

confidence: 99%

Prototyping Non-holonomic Hovercraft for Path Planning and Obstacle Avoidance

Abro,

Anwar Ali,

Jabeen

2019

SSURJET

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“…This subject has been investigated by a number of researchers in di erent frameworks, among which the longitudinal and lateral slip for two wheels, four wheels [18,19], six wheels [20], and eight wheels [21] can be mentioned. To this end, a mobile robot with non-holonomic constraints [22,23] and several actuating axles is utilized. In this case, in addition to the e ect of slip [24] and damping owing to the existence of height di erence and surfaces through which the robot passes, a spring-damper system is used to prevent surface shocks [25].…”

Section: Introductionmentioning

confidence: 99%

Dynamic modeling of the extended mobile robot: Composed N parallel axles, suspension system, and wheels slippage

2023

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In this study, the new mobile robot structure with N parallel axles was designed and developed, as well as its motion equations derived. It uses several parallel axes, which increase its mobility at di erent surface conditions compared to similar ones. The number of parallel axes in such robotic systems makes studies of the e ect of slip mandatory due to the increase in the wheels' contact area. These e ects make a di erence in the mobile robot kinematic constraints equations. On the other hand, added parallel axels prepare the capability for motion on rough and uneven surfaces. But the mobile platform requires a suspension system to reduce the e ects of oscillations due to the oor. Finally, the dynamics model of a mobile robot obtains by considering the e ect of wheels' slips, suspension, and parallel axles using Lagrange equations. The concluded model is simulated for a two-axis mobile robot with four wheels in di erent surface conditions. It can be seen that the deviation of the robot is eminent, besides that the wheel's slips a ect the system performance based on the oor conditions. Consequently, the robot deviation on ice is less than that on loose gravel, while the mentioned deviation on loose gravel is twice.

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