Abstract
The paper deals with the modeling and control strategies of the motion of wheeled mobile robots. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. First, the vehicle kinematics model and the control strategies using a feedforward compensator are analyzed. Second, fuzzy reactive control of a mobile robot motion in an unknown environment with obstacles are proposed. Finally, the mobile robot simulation is illustrated.
Highlights
Nowadays, there has been a growing interest in control of motion robot in an unstructured environment [1]
Fuzzy controller is proposed to the wheeled mobile robot motion in unstructured environments that including obstacles
This paper presents a how to control of motion and velocity of vehicle in an unstructured environment that contains obstacles with using ultrasonic sensors and a stereovision system
Summary
There has been a growing interest in control of motion robot in an unstructured environment [1]. This article presents strategy for navigation of a wheeled mobile robot in unstructured environments with obstacles. The vehicle has two wheels independently to control the angular velocity. This work deals with mobile robots modelling control strategies and simulation results.
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