Authors:
Kawther K Younus,Nabil H Hadi,DOI NO:
https://doi.org/10.26782/jmcms.2020.09.00001Keywords:
Mobile robot,Nonholonomic,DDWMR,Grid graph,Experimental,Abstract
This work studies the trajectory tracking of a non-holonomic WMR experimentally. Experimental work includes two parts where part one involves path tracking for some desired shapes, while the second part includes path planning and obstacle avoidance in the considered environment. Different cases of the trajectory were studied such as (straight line, circular, elliptical, squared, and triangular shape trajectory) utilizing Python programming. Also, the image processing technique and gird graph method had been used for the study two cases of path planning with different obstacles and position of obstacles, also with different start and goal points. On the other hand, the number of obstacles between the two cases is not the same and the shape of obstacles is uniform or non-uniform, also different size of obstacles were considered where the robot should avoid these obstacles and reach the goal point.The errors had been calculating adopting on the encoder. Results showed a very good match between the simulation and the desired trajectory. Also, the grid graph method was efficient in path planning and obstacle avoidance.Refference:
I Ali Alouache, and Qinghe Wu, 2018 China. “Genetic Algorithms for Trajectory Tracking of Mobile Robot Based on PID Controller”. PP237-241.
II Anish Pandey and Dayal R. Parhi, 2017 India. “Optimum Path Planning of Mobile Robot in Unknown Static and Dynamic Environments Using Fuzzy-Wind Driven Optimization Algorithm”, J. Defence Technology. V13. PP47-58.
III ImenHassani et. al, 2018 Tunisia. ” “Robot Path Planning with Avoiding Obstacles in Known Environment Using Free Segments and Turning Points Algorithm”, J. Mathematical Problems in Engineering. V2018. PP: 1-13
IV Mahmood Ali Moqbel et.al, 2016 Malaysia, Yemen. “Robust Backstepping Tracking Control of Mobile Robot Based on Nonlinear Disturbance Observer”, J. International Journal of Electrical and Computer Engineering (IJECE). V6. N2. PP901-908.
V Mohamed Maghenem. et. al, 2017 France. “Global Tracking-Stabilization Control of Mobile Robots with Parametric Uncertainty”. J. International Federation of Automatic Control. V50. PP4114–4119.
VI Mehr-e-Munir, ShahidLatif, Muhammad Aamir Aman,Waleed Jan, Jehanzeb Khan, Improved Distance Measuring Using Laser Light, J. Mech. Cont.& Math. Sci.Vol.-13, No.-3, July-August (2018), pp 192-198
VII Nardênio Almeida Martins et. al, 2011 Brasil, France. “An Adaptive Variable Structure Controller for the Trajectory Tracking of a Nonholonomic Mobile Robot with Uncertainties and Disturbances”, J. JCS&T. V11:No1. PP.
VIII Ollero, A., Sanfeliu, A., Montano, L., Lau, N., and Cardeira, C., 2017 Spain. B. ROBOT 2017: Third Iberian Robotics Conference.
IX Sourish Ghosh and Joydeep Biswas, 2017 Canada. “Joint Perception and Planning For Efficient Obstacle Avoidance Using Stereo Vision”, C. International Conference on Intelligent Robots and Systems (IROS). V2017. PP1026-1031.
X Yones k. k.and Hadi N. H. 2020 Iraq. “Path tracking and backstepping control for a wheeled mobile robot (WMR) in a slipping environment”, C. 3rd International Conference on Engineering Sciences.PP1-17.
XI Zheng Mingliang, Canonical Equations of Singular Mechanical Systems in Terms of Quasi-coordinates, J. Mech. Cont.& Math. Sci., Vol.-14, No.-4, July-August (2019), pp 1-7
View Download