Path Planning and Control of Mobile Robot in Road Environments using Sensor Fusion and Active Force Control

A path planning and control approach of a non-holonomic three-wheeled mobile robot (WMR) for on-line navigation in road following and roundabout environments is presented in this paper. We proposed a complete navigation algorithm that enables the WMR to autonomously navigate on the road with various...

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Main Authors:	Ali, Mohammed A. H., Mailah, Musa
Format:	Article
Language:	English
Published:	IEEE 2018
Subjects:	TE Highway engineering. Roads and pavements TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/23877/ http://umpir.ump.edu.my/id/eprint/23877/ http://umpir.ump.edu.my/id/eprint/23877/ http://umpir.ump.edu.my/id/eprint/23877/1/Path%20Planning%20and%20Control%20of%20Mobile%20Robot1.pdf

id	ump-23877
recordtype	eprints
spelling	ump-238772019-01-21T02:30:18Z http://umpir.ump.edu.my/id/eprint/23877/ Path Planning and Control of Mobile Robot in Road Environments using Sensor Fusion and Active Force Control Ali, Mohammed A. H. Mailah, Musa TE Highway engineering. Roads and pavements TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TS Manufactures A path planning and control approach of a non-holonomic three-wheeled mobile robot (WMR) for on-line navigation in road following and roundabout environments is presented in this paper. We proposed a complete navigation algorithm that enables the WMR to autonomously navigate on the road with various scenarios. With such an algorithm, the robot is able to localize itself within the road environment and find a collision free-path starting from a pre-defined start position to a goal point using a novel approach called laser simulator (LS). The path planning and roundabout detection are determined based on LS and sensor fusion of a laser range finder (LRF), camera and odometry measurements. The sensor fusion algorithm is used to remove noises and uncertainties from sensors' data and provide optimum measurements for path planning. A robot motion control scheme is used for the purpose of controlling the kinematic parameters of WMR using a resolved acceleration control (RAC) coupled with an active force control (AFC) for rejecting the disturbances. Experimental results show the capability of the proposed algorithms to robustly drive the robot on the road following and roundabout environments. IEEE 2018-11 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/23877/1/Path%20Planning%20and%20Control%20of%20Mobile%20Robot1.pdf Ali, Mohammed A. H. and Mailah, Musa (2018) Path Planning and Control of Mobile Robot in Road Environments using Sensor Fusion and Active Force Control. IEEE Transactions on Vehicular Technology. pp. 1-20. ISSN 0018-9545 https://doi.org/10.1109/TVT.2019.2893878 doi: 10.1109/TVT.2019.2893878
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TE Highway engineering. Roads and pavements TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TS Manufactures
spellingShingle	TE Highway engineering. Roads and pavements TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TS Manufactures Ali, Mohammed A. H. Mailah, Musa Path Planning and Control of Mobile Robot in Road Environments using Sensor Fusion and Active Force Control
description	A path planning and control approach of a non-holonomic three-wheeled mobile robot (WMR) for on-line navigation in road following and roundabout environments is presented in this paper. We proposed a complete navigation algorithm that enables the WMR to autonomously navigate on the road with various scenarios. With such an algorithm, the robot is able to localize itself within the road environment and find a collision free-path starting from a pre-defined start position to a goal point using a novel approach called laser simulator (LS). The path planning and roundabout detection are determined based on LS and sensor fusion of a laser range finder (LRF), camera and odometry measurements. The sensor fusion algorithm is used to remove noises and uncertainties from sensors' data and provide optimum measurements for path planning. A robot motion control scheme is used for the purpose of controlling the kinematic parameters of WMR using a resolved acceleration control (RAC) coupled with an active force control (AFC) for rejecting the disturbances. Experimental results show the capability of the proposed algorithms to robustly drive the robot on the road following and roundabout environments.
format	Article
author	Ali, Mohammed A. H. Mailah, Musa
author_facet	Ali, Mohammed A. H. Mailah, Musa
author_sort	Ali, Mohammed A. H.
title	Path Planning and Control of Mobile Robot in Road Environments using Sensor Fusion and Active Force Control
title_short	Path Planning and Control of Mobile Robot in Road Environments using Sensor Fusion and Active Force Control
title_full	Path Planning and Control of Mobile Robot in Road Environments using Sensor Fusion and Active Force Control
title_fullStr	Path Planning and Control of Mobile Robot in Road Environments using Sensor Fusion and Active Force Control
title_full_unstemmed	Path Planning and Control of Mobile Robot in Road Environments using Sensor Fusion and Active Force Control
title_sort	path planning and control of mobile robot in road environments using sensor fusion and active force control
publisher	IEEE
publishDate	2018
url	http://umpir.ump.edu.my/id/eprint/23877/ http://umpir.ump.edu.my/id/eprint/23877/ http://umpir.ump.edu.my/id/eprint/23877/ http://umpir.ump.edu.my/id/eprint/23877/1/Path%20Planning%20and%20Control%20of%20Mobile%20Robot1.pdf
first_indexed	2023-09-18T22:35:57Z
last_indexed	2023-09-18T22:35:57Z
_version_	1777416596615069696

Path Planning and Control of Mobile Robot in Road Environments using Sensor Fusion and Active Force Control

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