Abstract
A robust control algorithm for tracking a wheeled mobile robot navigating in a pre-planned path while passing through the road’s roundabout environment is presented in this article. The proposed control algorithm is derived from both the kinematic and dynamic modelling of a non-holonomic wheeled mobile robot that is driven by a differential drive system. The road’s roundabout is represented in a grid map and the path of the mobile robot is determined using a novel approach, the so-called laser simulator technique within the roundabout environment according to the respective road rules. The main control scheme is experimented in both simulation and experimental study using the resolved-acceleration control and active force control strategy to enable the robot to strictly follow the predefined path in the presence of disturbances. A fusion of the resolved-acceleration control–active force control controller with Kalman Filter has been used empirically in real time to control the wheeled mobile robot in the road’s roundabout setting with the specific purpose of eliminating the noises. Both the simulation and the experimental results show the capability of the proposed controller to track the robot in the predefined path robustly and cancel the effect of the disturbances.
Highlights
Nowadays, mobile robots are a common feature in many applications that involve hazardous, complex, high accurate or heavy-duty tasks in various fields such as aerospace, underwater, military, medicine, inspection and mining
Fuzzy logic (FL) controller with a reference speed derived from the curvature of the trajectory that is detected by camera and image processing software is used to control the mobile robot.[2]
The image processing algorithm is listed here and more details can be found in previous studies,[28,34] (i) Preprocessing of the image
Summary
Mobile robots are a common feature in many applications that involve hazardous, complex, high accurate or heavy-duty tasks in various fields such as aerospace, underwater, military, medicine, inspection and mining. The observer is able to estimate the uncertainties in the dynamic system and enables to compensate the disturbances online that subsequently leads to a robust trajectory tracking control of the robotic manipulator with high disturbance rejection capability Another trajectory tracking robotic system using computed torque control scheme with dynamic modelling is used to control a WMR manipulator in the task space.[27] Using a well-known model of a computed torque control, it has been proved that the stability of the system is guaranteed and the convergence of tracking errors has been reached.
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