صورة الغلاف

Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout

This paper describes the incorporation of active force control (AFC) scheme into two different resolved motion acceleration control (RMAC) models, i.e. RMAC with proportional-plus-derivative (RMAC-PD) and RMAC with proportional-plus-integralplus- derivative (RMAC-PID). The two newly formulated contr...

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محفوظ في:
التفاصيل البيبلوغرافية
المؤلفون الرئيسيون: Tang, Howe Hing, Mailah, Musa
التنسيق: مقال
اللغة:English
منشور في: Faculty of Mechanical Engineering 2006
الموضوعات:
TJ Mechanical engineering and machinery
الوصول للمادة أونلاين:http://eprints.utm.my/id/eprint/6491/1/MusaMailah2006_MotionControlofNonholonomicWheeledMobile.pdf
http://eprints.utm.my/id/eprint/6491/
https://www.fkm.utm.my/~mekanika
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id my.utm.6491
record_format eprints
spelling my.utm.64912012-08-16T06:09:57Z http://eprints.utm.my/id/eprint/6491/ Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout Tang, Howe Hing Mailah, Musa TJ Mechanical engineering and machinery This paper describes the incorporation of active force control (AFC) scheme into two different resolved motion acceleration control (RMAC) models, i.e. RMAC with proportional-plus-derivative (RMAC-PD) and RMAC with proportional-plus-integralplus- derivative (RMAC-PID). The two newly formulated control models are subsequently implemented as the proposed motion controllers for the nonholonomic wheeled mobile robot (WMR). By embedding AFC into both the RMAC schemes, the performance of the robotic system was studied in which the WMR was required to track a collision-free trajectory in a structured layout that has been prescribed by a trajectory planner. The effectiveness of both the controllers were then experimented and compared to determine the accuracy and trackability of the WMR. The WMR was also subjected to disturbances for the testing of the system robustness. With appropriately computed inertia matrix and finely tuned RMAC control parameters, the WMR was found to be very robust and effective in trajectory tracking task in spite of the complexity of the operating and loading conditions. Faculty of Mechanical Engineering 2006 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/6491/1/MusaMailah2006_MotionControlofNonholonomicWheeledMobile.pdf Tang, Howe Hing and Mailah, Musa (2006) Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout. Jurnal Mekanikal (21). pp. 27-39. ISSN 0127-3396 https://www.fkm.utm.my/~mekanika
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Tang, Howe Hing
Mailah, Musa
Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout
description This paper describes the incorporation of active force control (AFC) scheme into two different resolved motion acceleration control (RMAC) models, i.e. RMAC with proportional-plus-derivative (RMAC-PD) and RMAC with proportional-plus-integralplus- derivative (RMAC-PID). The two newly formulated control models are subsequently implemented as the proposed motion controllers for the nonholonomic wheeled mobile robot (WMR). By embedding AFC into both the RMAC schemes, the performance of the robotic system was studied in which the WMR was required to track a collision-free trajectory in a structured layout that has been prescribed by a trajectory planner. The effectiveness of both the controllers were then experimented and compared to determine the accuracy and trackability of the WMR. The WMR was also subjected to disturbances for the testing of the system robustness. With appropriately computed inertia matrix and finely tuned RMAC control parameters, the WMR was found to be very robust and effective in trajectory tracking task in spite of the complexity of the operating and loading conditions.
format Article
author Tang, Howe Hing
Mailah, Musa
author_facet Tang, Howe Hing
Mailah, Musa
author_sort Tang, Howe Hing
title Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout
title_short Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout
title_full Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout
title_fullStr Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout
title_full_unstemmed Motion Control of Nonholonomic Wheeled Mobile Robot in a Structured Layout
title_sort motion control of nonholonomic wheeled mobile robot in a structured layout
publisher Faculty of Mechanical Engineering
publishDate 2006
url http://eprints.utm.my/id/eprint/6491/1/MusaMailah2006_MotionControlofNonholonomicWheeledMobile.pdf
http://eprints.utm.my/id/eprint/6491/
https://www.fkm.utm.my/~mekanika
_version_ 1643644570274103296
score 13.250246

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