Abstract
Given the increase use of modern technology in today’s life, many facility appliances provide efficient ways to protect human from hazardous work areas, such as explosives, and nuclear plants. This paper proposes a four omnidirectional-wheels mobile robot based on a Mecanum wheel that can navigate smoothly taking into consideration the kinematic constraint. In this research, Genetic Algorithm (GA) is used for two purposes. First, GA-PID controller is used, where a PID controller is tuned using GA. Second, the kinematic constraint of the motor’s speed is taken into consideration using GA controller. GA finds the appropriate robot velocity that requires about 90% of the rated maximum motor’s speed. In order to evaluate the performance of the developed robot and its controller, MATLAB is used to verify the robustness of the optimized GA-PID controller taking into consideration the motors’ speeds. The error and the robot motors’ speeds are calculated utilizing MATLAB simulation on different complex shapes and the result shows that the robot can smoothly navigate complex shapes without exceeding the rated maximum motors speed.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: International Review on Modelling and Simulations (IREMOS)
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
