Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods
A robust control algorithm for tracking the mobile robot in a pre-planned path during passing through complicated environments such as in roundabout is presented in this paper. The proposed algorithm is derived from the kinematic and dynamic of 3wheeled Non-holonomic mobile robot motion. The control...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Book Chapter |
| Language: | English |
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WSEAS Press
2015
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| Online Access: | http://umpir.ump.edu.my/id/eprint/9345/ http://umpir.ump.edu.my/id/eprint/9345/1/Wheeled%20Mobile%20Robot%20Path%20Control%20in%20a%20Complex%20Trajectory%20using%20HybridMethods.pdf |
| _version_ | 1848818468168663040 |
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| author | Ali, Mohammed A. H. Musa, Mailah Wan Azhar, Wan Yusoff Zamzuri, Hamedon Zulkifli, Md. Yusof |
| author2 | Mladenov, Valeri |
| author_facet | Mladenov, Valeri Ali, Mohammed A. H. Musa, Mailah Wan Azhar, Wan Yusoff Zamzuri, Hamedon Zulkifli, Md. Yusof |
| author_sort | Ali, Mohammed A. H. |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | A robust control algorithm for tracking the mobile robot in a pre-planned path during passing through complicated environments such as in roundabout is presented in this paper. The proposed algorithm is derived from the kinematic and dynamic of 3wheeled Non-holonomic mobile robot motion. The control scheme is performed using Resolved Acceleration Control, Active Force Control strategy or mixed of them in Simulink-MATLAB, which are compared with each other in the matter ofenabling the robot to follow the predefined path while applying disturbances. Results show the capability of this controller to track the robot on the pre-defined path and remove the effect of the disturbances. |
| first_indexed | 2025-11-15T01:38:08Z |
| format | Book Chapter |
| id | ump-9345 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T01:38:08Z |
| publishDate | 2015 |
| publisher | WSEAS Press |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-93452018-04-11T04:01:02Z http://umpir.ump.edu.my/id/eprint/9345/ Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods Ali, Mohammed A. H. Musa, Mailah Wan Azhar, Wan Yusoff Zamzuri, Hamedon Zulkifli, Md. Yusof TS Manufactures A robust control algorithm for tracking the mobile robot in a pre-planned path during passing through complicated environments such as in roundabout is presented in this paper. The proposed algorithm is derived from the kinematic and dynamic of 3wheeled Non-holonomic mobile robot motion. The control scheme is performed using Resolved Acceleration Control, Active Force Control strategy or mixed of them in Simulink-MATLAB, which are compared with each other in the matter ofenabling the robot to follow the predefined path while applying disturbances. Results show the capability of this controller to track the robot on the pre-defined path and remove the effect of the disturbances. WSEAS Press Mladenov, Valeri 2015 Book Chapter PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/9345/1/Wheeled%20Mobile%20Robot%20Path%20Control%20in%20a%20Complex%20Trajectory%20using%20HybridMethods.pdf Ali, Mohammed A. H. and Musa, Mailah and Wan Azhar, Wan Yusoff and Zamzuri, Hamedon and Zulkifli, Md. Yusof (2015) Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods. In: Recent Advances in Electrical Engineering. Recent Advances in Electrical Engineering Series, 47 . WSEAS Press, Bulgaria, pp. 38-43. ISBN 978 -1-61804- 299 -6 http://www.wseas.us/e-library/conferences/2015/Malaysia/CSCCA/CSCCA-05.pdf |
| spellingShingle | TS Manufactures Ali, Mohammed A. H. Musa, Mailah Wan Azhar, Wan Yusoff Zamzuri, Hamedon Zulkifli, Md. Yusof Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods |
| title | Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods |
| title_full | Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods |
| title_fullStr | Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods |
| title_full_unstemmed | Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods |
| title_short | Wheeled Mobile Robot Path Control in a Complex Trajectory using HybridMethods |
| title_sort | wheeled mobile robot path control in a complex trajectory using hybridmethods |
| topic | TS Manufactures |
| url | http://umpir.ump.edu.my/id/eprint/9345/ http://umpir.ump.edu.my/id/eprint/9345/ http://umpir.ump.edu.my/id/eprint/9345/1/Wheeled%20Mobile%20Robot%20Path%20Control%20in%20a%20Complex%20Trajectory%20using%20HybridMethods.pdf |