Abstract
Mobile robots are promising devices which are dedicated to human comfort in all areas. However, the control algorithm of the wheels of mobile robot is entirely challenging due to the nonlinearity. Recently, the classical PID (proportional-integral-derivative) controllers are frequently used in robotics for their high accuracy and the smooth determination of their parameters. A robust approach called fuzzy control which is based on the conversion of linguistic inference sets in a suitable control value is a widely used method in industrial system control in our days. A new challenging method to solve the problem of intelligent navigation of nonholonomic mobile robot is suggested. In this work, the presented methodology is based on three hybrid fuzzy logic PID controllers which are adapted to guarantee target achievement and trajectory tracking. A fuzzy-PID control algorithm is designed with 2 inputs and 3 outputs. By the information given by the system response, error and error derivate can be used to extract and adopt the PID controller parameters: proportional, integral, and derivative gains. Besides, a tuning value A is introduced to improve the resulted response in terms of speeding up and reducing error, overshoot, and oscillation, as well as reducing ISE and IAE values. A modelization of a differential drive mobile robot is presented. The developed algorithm is tested and implemented to this mobile robot model via Simulink/MATLAB.
Highlights
Mobile robots have been a crucial element of our modernized life
In the field of mobile robotic platforms design, one of the most important design tasks is the motion problem. is problem is categorized into three categories: navigation, path following, and trajectory tracking. e control algorithm plays an important role in the working ability of mobile robotic platform; the overall mobile robot system with its subsystems and components must be designed to be robust and adaptive system, as well as operates with improved dynamic and with a good steady state system performances [1]
E presented tests are discussed as follows: (i) Test (1): testing the control algorithm for motion tracking in terms of achieving straight line motion with desired linear speed of 0.5 m/s
Summary
Mobile robots have been a crucial element of our modernized life. Robots can be described as intelligent machines that can facilitate many activities in different areas such as industry, medical, military, and family services. e ability of robot to perform tasks with potential risks in an unknown environment is considered as a strong characteristic due to the incapability of humans to reach some hazardous regions and targets. Fuzzy algorithm can be designed to propose solutions for solving motion problem including performing path planning, local navigation, global navigation, steering control, and rate control of a mobile robot [6, 7]. E flexibility of fuzzy logic controller as well as the simplicity of PID algorithms are exploited to guarantee a good path tracking of our mobile robot. E main contribution in this presented study is the adoption of hybrid fuzzy-PID-based dynamic model to control a nonholonomic WMR (wheeled mobile robot). E designed hybrid fuzzy logic controller is developed and applied to a mobile robot dynamic model and, validated via the performed software platform.
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