Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods

A robust control algorithm for tracking the mobile robot in a pre-planned path during passing through complicated environments such as in roundabout is presented in this paper. The proposed algorithm is derived from the kinematic and dynamic of 3wheeled Non-holonomic mobile robot motion. The control...

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Main Authors:	Ali, Mohammed A. H., Musa, Mailah, Wan Azhar, Wan Yusoff, Zamzuri, Hamedon, Zulkifli, Md. Yusof
Other Authors:	Mladenov, Valeri
Format:	Book Section
Language:	English
Published:	WSEAS Press 2015
Subjects:	TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/9345/ http://umpir.ump.edu.my/id/eprint/9345/ http://umpir.ump.edu.my/id/eprint/9345/1/Wheeled%20Mobile%20Robot%20Path%20Control%20in%20a%20Complex%20Trajectory%20using%20HybridMethods.pdf

id	ump-9345
recordtype	eprints
spelling	ump-93452018-04-11T04:01:02Z http://umpir.ump.edu.my/id/eprint/9345/ Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods Ali, Mohammed A. H. Musa, Mailah Wan Azhar, Wan Yusoff Zamzuri, Hamedon Zulkifli, Md. Yusof TS Manufactures A robust control algorithm for tracking the mobile robot in a pre-planned path during passing through complicated environments such as in roundabout is presented in this paper. The proposed algorithm is derived from the kinematic and dynamic of 3wheeled Non-holonomic mobile robot motion. The control scheme is performed using Resolved Acceleration Control, Active Force Control strategy or mixed of them in Simulink-MATLAB, which are compared with each other in the matter ofenabling the robot to follow the predefined path while applying disturbances. Results show the capability of this controller to track the robot on the pre-defined path and remove the effect of the disturbances. WSEAS Press Mladenov, Valeri 2015 Book Section PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/9345/1/Wheeled%20Mobile%20Robot%20Path%20Control%20in%20a%20Complex%20Trajectory%20using%20HybridMethods.pdf Ali, Mohammed A. H. and Musa, Mailah and Wan Azhar, Wan Yusoff and Zamzuri, Hamedon and Zulkifli, Md. Yusof (2015) Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods. In: Recent Advances in Electrical Engineering. Recent Advances in Electrical Engineering Series, 47 . WSEAS Press, Bulgaria, pp. 38-43. ISBN 978 -1-61804- 299 -6 http://www.wseas.us/e-library/conferences/2015/Malaysia/CSCCA/CSCCA-05.pdf
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 Ali, Mohammed A. H. Musa, Mailah Wan Azhar, Wan Yusoff Zamzuri, Hamedon Zulkifli, Md. Yusof Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods
description	A robust control algorithm for tracking the mobile robot in a pre-planned path during passing through complicated environments such as in roundabout is presented in this paper. The proposed algorithm is derived from the kinematic and dynamic of 3wheeled Non-holonomic mobile robot motion. The control scheme is performed using Resolved Acceleration Control, Active Force Control strategy or mixed of them in Simulink-MATLAB, which are compared with each other in the matter ofenabling the robot to follow the predefined path while applying disturbances. Results show the capability of this controller to track the robot on the pre-defined path and remove the effect of the disturbances.
author2	Mladenov, Valeri
author_facet	Mladenov, Valeri Ali, Mohammed A. H. Musa, Mailah Wan Azhar, Wan Yusoff Zamzuri, Hamedon Zulkifli, Md. Yusof
format	Book Section
author	Ali, Mohammed A. H. Musa, Mailah Wan Azhar, Wan Yusoff Zamzuri, Hamedon Zulkifli, Md. Yusof
author_sort	Ali, Mohammed A. H.
title	Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods
title_short	Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods
title_full	Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods
title_fullStr	Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods
title_full_unstemmed	Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods
title_sort	wheeled mobile robot path control in a complex trajectory using hybridmethods
publisher	WSEAS Press
publishDate	2015
url	http://umpir.ump.edu.my/id/eprint/9345/ http://umpir.ump.edu.my/id/eprint/9345/ http://umpir.ump.edu.my/id/eprint/9345/1/Wheeled%20Mobile%20Robot%20Path%20Control%20in%20a%20Complex%20Trajectory%20using%20HybridMethods.pdf
first_indexed	2023-09-18T22:07:50Z
last_indexed	2023-09-18T22:07:50Z
_version_	1777414826901897216

Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods

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