Platooning Strategy of Mobile Robot: Simulation and Experiment

Concurrent studies show vehicle platooning system as a promising approach for a new transportation system. The platooning strategy can be also applied to automated mobile robots. Including dynamic modelling in the simulation with kinematic model would yield a different result as the dynamic modellin...

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Main Authors:	Baarath, Kunjunni, Muhammad Aizzat, Zakaria, Suparmaniam, M. V., Mohd Yazid, Abu
Format:	Conference or Workshop Item
Language:	English
Published:	EDP Sciences 2017
Subjects:	TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/17538/ http://umpir.ump.edu.my/id/eprint/17538/ http://umpir.ump.edu.my/id/eprint/17538/ http://umpir.ump.edu.my/id/eprint/17538/1/Platooning%20strategy%20of%20mobile%20robot-%20simulation%20and%20experiment.pdf

id	ump-17538
recordtype	eprints
spelling	ump-175382018-02-27T07:40:16Z http://umpir.ump.edu.my/id/eprint/17538/ Platooning Strategy of Mobile Robot: Simulation and Experiment Baarath, Kunjunni Muhammad Aizzat, Zakaria Suparmaniam, M. V. Mohd Yazid, Abu TS Manufactures Concurrent studies show vehicle platooning system as a promising approach for a new transportation system. The platooning strategy can be also applied to automated mobile robots. Including dynamic modelling in the simulation with kinematic model would yield a different result as the dynamic modelling would include the physical parameters of the mobile robot. The aim is to create a model that describes the motion of a robot that follows another robot based on predetermined distance. Dynamic model of the proposed mobile robot is simulated and the kinematic modelling was included in to simulate the motion of the mobile robot. PID controller will be used as a controller for robot’s motion and platooning strategy. A reference distance is given as the input and the PID controller computes the error and sends input to the mobile robot in the form of voltage. The robot is able to follow the leader robot by maintaining a distance of one metre with a small deviation in the direction as the robot tends to move towards the left due to forces acting on the wheel. This method can be implemented in a human following mobile robot where the leader robot is replaced with a human user. EDP Sciences 2017 Conference or Workshop Item PeerReviewed application/pdf en cc_by http://umpir.ump.edu.my/id/eprint/17538/1/Platooning%20strategy%20of%20mobile%20robot-%20simulation%20and%20experiment.pdf Baarath, Kunjunni and Muhammad Aizzat, Zakaria and Suparmaniam, M. V. and Mohd Yazid, Abu (2017) Platooning Strategy of Mobile Robot: Simulation and Experiment. In: MATEC Web of Conferences: The 2nd International Conference on Automotive Innovation and Green Vehicle (AiGEV 2016), 2-3 August 2016 , Malaysia Automotive Institute, Cyberjaya, Selangor. pp. 1-13., 90 (01060). ISSN 2261-236X https://doi.org/10.1051/matecconf/20179001060 doi: 10.1051/matecconf/20179001060
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TS Manufactures
spellingShingle	TS Manufactures Baarath, Kunjunni Muhammad Aizzat, Zakaria Suparmaniam, M. V. Mohd Yazid, Abu Platooning Strategy of Mobile Robot: Simulation and Experiment
description	Concurrent studies show vehicle platooning system as a promising approach for a new transportation system. The platooning strategy can be also applied to automated mobile robots. Including dynamic modelling in the simulation with kinematic model would yield a different result as the dynamic modelling would include the physical parameters of the mobile robot. The aim is to create a model that describes the motion of a robot that follows another robot based on predetermined distance. Dynamic model of the proposed mobile robot is simulated and the kinematic modelling was included in to simulate the motion of the mobile robot. PID controller will be used as a controller for robot’s motion and platooning strategy. A reference distance is given as the input and the PID controller computes the error and sends input to the mobile robot in the form of voltage. The robot is able to follow the leader robot by maintaining a distance of one metre with a small deviation in the direction as the robot tends to move towards the left due to forces acting on the wheel. This method can be implemented in a human following mobile robot where the leader robot is replaced with a human user.
format	Conference or Workshop Item
author	Baarath, Kunjunni Muhammad Aizzat, Zakaria Suparmaniam, M. V. Mohd Yazid, Abu
author_facet	Baarath, Kunjunni Muhammad Aizzat, Zakaria Suparmaniam, M. V. Mohd Yazid, Abu
author_sort	Baarath, Kunjunni
title	Platooning Strategy of Mobile Robot: Simulation and Experiment
title_short	Platooning Strategy of Mobile Robot: Simulation and Experiment
title_full	Platooning Strategy of Mobile Robot: Simulation and Experiment
title_fullStr	Platooning Strategy of Mobile Robot: Simulation and Experiment
title_full_unstemmed	Platooning Strategy of Mobile Robot: Simulation and Experiment
title_sort	platooning strategy of mobile robot: simulation and experiment
publisher	EDP Sciences
publishDate	2017
url	http://umpir.ump.edu.my/id/eprint/17538/ http://umpir.ump.edu.my/id/eprint/17538/ http://umpir.ump.edu.my/id/eprint/17538/ http://umpir.ump.edu.my/id/eprint/17538/1/Platooning%20strategy%20of%20mobile%20robot-%20simulation%20and%20experiment.pdf
first_indexed	2023-09-18T22:24:17Z
last_indexed	2023-09-18T22:24:17Z
_version_	1777415862675832832

Platooning Strategy of Mobile Robot: Simulation and Experiment

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