Addressing collision avoidance and nonholonomic constraints of a wheeled robot: Modeling and simulation

Zohaib, Muhammad; Pasha, Syed Mustafa; Bushra, Hafza; Kamil, Hassan; Iqbal, Jamshed

doi:10.1109/icreate.2014.6828385

Cited by 17 publications

(7 citation statements)

References 11 publications

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“…The latest avenues of research in mobile robots address their operational performance with constraints that need to be explored in the renewable energy context. Examples of these avenues include; navigation [233]- [235], path planning [236], collision detection [237], [238], slip avoidance [239], [240] etc.…”

Section: Challenges and Opportunities Of Robotics In Renewable Energy Sectormentioning

confidence: 99%

Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges

et al. 2019

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The domain of Robotics is a good partner of renewable energy and is becoming critical to the sustainability and survival of the energy industry. The multi-disciplinary nature of robots offers precision, repeatability, reliability, productivity and intelligence, thus rendering their services in diversified tasks ranging from manufacturing, assembling, and installation to inspection and maintenance of renewable resources. This paper explores applications of real robots in four feasible renewable energy domains; solar, wind, hydro, and biological setups. In each case, existing state-of-the-art innovative robotic systems are investigated that have the potential to create a difference in the corresponding renewable sector in terms of reduced set-up time, lesser cost, improved quality, enhanced productivity and exceptional competitiveness in the global market. Instrumental opportunities and challenges of robot deployment in the renewable sector are also discussed with a brief case study of Saudi Arabia. It is expected that the wider dissemination of the instrumental role of robotics in renewable energy will contribute to further developments and stimulate more collaborations and partnerships between professionals of robotics and energy communities.INDEX TERMS Applied robotics, automation in renewable energy, mobile robots, robotic manipulators, solar PV module, wind turbines.

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Section: Challenges and Opportunities Of Robotics In Renewable Energy Sectormentioning

confidence: 99%

Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges

et al. 2019

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“…The reference in [29] to investigate the mobility at the knee of the robot's leg is a novel idea. The performance of the wheels can be tested on any surface [30][31][32][33], which will give a satisfactory result. The formation of a multilink mobile robot from previous studies [30][31][32][33] based on [34] is very useful.…”

Section: Introductionmentioning

confidence: 99%

“…The performance of the wheels can be tested on any surface [30][31][32][33], which will give a satisfactory result. The formation of a multilink mobile robot from previous studies [30][31][32][33] based on [34] is very useful. The positive control for associations [35] of emotional robots may be investigated in the future.…”

Section: Introductionmentioning

confidence: 99%

The application of a optimal controller for the flexible joint robot

Danh¹

2022

EAI Endorsed Trans Cloud Sys

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This paper describes the operation of a single Degree of Freedom (DOF) flexible robotic arm by the optimal controller. The derived model is based on Euler- Lagrange approach, while the first and second-order (super twisting) Sliding Mode Control (SMC) is proposed as a nonlinear control strategy. Exploration of a flexible robotic arm with using state-of-the-art controllers is essential for practical applications. This is even more refreshing when these arms have joints that work independently of each other to create a smooth connection between the joints, but it still ensures the natural properties like a real human arm. This system has many similarities with the flexible link system of the MIMO model in its operational state analysis. Control laws must be followed by logical rules in a coherent whole. The next step is to design a controller to fit the structure of the system. The author also compared the use of the above controller with a system without using any controller to determine the effectiveness of using the above controller.

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“…Other subsystems include soft links [28] such as computers, and robotic legs [29] such as legs that are capable of gripping surfaces underwater. Wheels capable of propulsion on the surface of planets are based on [30][31][32][33] or a combination of alignment components [34]. New strategies [35] for the above links such as robot self-navigation.…”

Section: Introductionmentioning

confidence: 99%

Neural Networks Application for the Data of LQG Regulator for the Flexible Joint Robot

Danh

2022

EAI Endorsed Trans Cloud Sys

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This paper describes the investigation of a flexible robotic arm with Degree of Freedom (DOF) through Linear Quadratic Gaussian (LQG) regulator under the influence of noise signals with using diagrams below. The derived model is based on the Euler-Lagrange approach while LQG mode is proposed as a modern control method. A flexible robotic arm that is test in the modern regulator is essential for applications. This is even more interesting while these arms have joints that work independently of each other, but they still ensure a tight connection between the joints. Testing the stability characteristics of the system through this regulator helps readers determine the output signals of a system exactly. From here, the author came up with strategies the match the requirements. Although the initial stage of the operating cycle is not stable with the use of LQG regulator, most of later stages of this process of closed systems of robotic systems gradually become stable. In particular, adjusting LQG for flexible joint robot gives satisfactory simulation results. This promises a positive result of other joint robot. Neural networks applied in this paper have proven its effectiveness in information security issues. It is also very useful for tight control of possible situations such as a large scale attack on network systems, automated control systems. The main contributions of this paper have been clearly demonstrated through two strategies that need to be addressed: LQG, neural networks for the data of LQG regulator.The methods described above have not been previously published for this model. Therefore, this article was born to outline the above objectives and the plans have been satisfactorily implemented. These studies are important because they serve as a necessary database in the selection of control strategies according to the requirements. Simulation results are done by Matlab. The purpose of the study of this paper: the author has searched for a stability of the system through the above methods. The applied method is a thorough study of the structure of the system as well as the construction of algorithms to form the regulator. The result ia a reliable simulation of events after the system is controlled by these regulators.

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Addressing collision avoidance and nonholonomic constraints of a wheeled robot: Modeling and simulation

Cited by 17 publications

References 11 publications

Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges

Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges

The application of a optimal controller for the flexible joint robot

Neural Networks Application for the Data of LQG Regulator for the Flexible Joint Robot

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