A rule-based system for trajectory planning of an indoor mobile robot

Sharef, Siba M.; Said, Waladin K.; Khoshaba, Farah S.

doi:10.1109/ssd.2010.5585504

Cited by 3 publications

(3 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It can be noticed that the controller is efficient to track the desired trajectory with a very slight error that can be considered as tolerable, this can be obviously shown in Fig. (6) and (8) for the error states z 1 and z 2 , respectively. This slight error values are justified to the integral part of the controller where it is well-known that the integral usually added to counteract the error.…”

Section: Analysis Of Simulation Resultsmentioning

confidence: 91%

See 1 more Smart Citation

Design of Trajectory Tracking Controller for a Differential- Drive Mobile Robot Platform Based on Integral Control

Sharef¹,

Raheem²,

Majeed³

2014

ETJ

View full text Add to dashboard Cite

Atrajectory tracking controller based on integral control technique for the wheeled differential mobile robot using the kinematic model is proposed in this paper. The proposed controller design is achieved by using the nonlinear kinematics model of the mobile robot which is being transformed to a nonlinear error model by shifting its states to the origin and by adding a dummy integral control state variables that are augmented with the nonlinear error model, the model became ready to be used to design a controller. The nonlinear controller which will enforce the system dynamics to follow the desired trajectory guarantee that the steering control system of the mobile robot will behave as a second order reference model with specified natural frequency and damping ratio is being selected by the designer, and the average speed control system will behave as a first order reference model with specified time constant chosen by the designer. The simulation results which is achieved by using MATLAB Rev. (14.9 2009b) show the potential of the proposed controller to track the mobile robot to the desired trajectory with very slight error.

show abstract

Section: Analysis Of Simulation Resultsmentioning

confidence: 91%

“…It is needed to obtain 𝜃 𝑑𝑒𝑠 (i.e. the desired orientation angle), actually this can be easily obtained by rewriting the formula [8]in the following way:…”

Section: Analysis Of Simulation Resultsmentioning

confidence: 99%

Design of Trajectory Tracking Controller for a Differential- Drive Mobile Robot Platform Based on Integral Control

Sharef¹,

Raheem²,

Majeed³

2014

ETJ

View full text Add to dashboard Cite

show abstract

“…This is known as local convergence approach [18]; despite its performance, this solution does not guarantee the minimum path (because of the local minimum "traps"). In the opposite one, known as global convergence approach [19], the working map will be constructed at a global scope, thus, avoiding the "dead-ends" and providing a better (but not minimal) path, although with a more expensive on-board resources usage.…”

Section: Introductionmentioning

confidence: 99%

HCTNav: A Path Planning Algorithm for Low-Cost Autonomous Robot Navigation in Indoor Environments

Pala

Eraghi

López-Colino

et al. 2013

IJGI

View full text Add to dashboard Cite

Low-cost robots are characterized by low computational resources and limited energy supply. Path planning algorithms aim to find the optimal path between two points so the robot consumes as little energy as possible. However, these algorithms were not developed considering computational limitations (i.e., processing and memory capacity). This paper presents the HCTNav path-planning algorithm (HCTLab research group's navigation algorithm). This algorithm was designed to be run in low-cost robots for indoor navigation. The results of the comparison between HCTNav and the Dijkstra's algorithms show that HCTNav's memory peak is nine times lower than Dijkstra's in maps with more than 150,000 cells.

show abstract

An Approach of Orientation Detection for balancing object on Robotic Vehicle for Non-Plane Surface

Uge¹,

Katkar²

2014

IOSRJEN

View full text Add to dashboard Cite

-In recent time development of multimodal robot or autonomous robots are designed for multiple requirements and multiple platforms. Many space research centers are working on robot which can control its position and also adjust their shape on demand.Falling robot is one of the biggest challenges in robot design for non-plane surface. Researchers' also developing different sensors for detecting object position in maximum possible coordinate with different degree of angle.Theproposed system is to make the robotic vehicle operated through computer system in different direction with inbuilt capability of self-balancing on non-plane surface.In this paper we demonstrate the tilt angle of the object. Basic technology used in proposed system is gyro-meter to identify tilt angle of object in order to give support from opposite side to neutralize the tilt angle and also neutralized effect of tilt by maintaining center of gravity.

show abstract

A rule-based system for trajectory planning of an indoor mobile robot

Cited by 3 publications

References 6 publications

Design of Trajectory Tracking Controller for a Differential- Drive Mobile Robot Platform Based on Integral Control

Design of Trajectory Tracking Controller for a Differential- Drive Mobile Robot Platform Based on Integral Control

HCTNav: A Path Planning Algorithm for Low-Cost Autonomous Robot Navigation in Indoor Environments

An Approach of Orientation Detection for balancing object on Robotic Vehicle for Non-Plane Surface

Contact Info

Product

Resources

About