Fractional order sliding mode control for an omni-directional mobile robot based on self-organizing interval type-2 fuzzy neural network

Zhao, Tao; Qin, Peng; Dian, Songyi; Guo, Bin

doi:10.1016/j.ins.2023.119819

Cited by 9 publications

(1 citation statement)

References 42 publications

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“…Omni-wheeled transportation vehicles or mobile robot that can move to a target location in an arbitrary direction on the floor is important for ensuring that work can proceed quickly and effectively in a limited space. A unit able to move in an arbitrary direction using only one wheel was proposed in [7][8][9].…”

Section: Literature Backgroundmentioning

confidence: 99%

Linear Actuators in a Haptic Feedback Joystick System for Electric Vehicles

Daniel,

Kowol,

Lo Sciuto

2024

Computers

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Several strategies for navigation in unfamiliar environments have been explored, notably leveraging advanced sensors and control algorithms for obstacle recognition in autonomous vehicles. This study introduces a novel approach featuring a redesigned joystick equipped with stepper motors and linear drives, facilitating WiFi communication with a four-wheel omnidirectional electric vehicle. The system’s drive units integrated into the joystick and the encompassing control algorithms are thoroughly examined, including analysis of stick deflection measurement and inter-component communication within the joystick assembly. Unlike conventional setups in which the joystick is tilted by the operator, two independent linear drives are employed to generate ample tensile force, effectively “overpowering” the operator’s input. Running on a Raspberry Pi, the software utilizes Python programming to enable joystick tilt control and to transmit orientation and axis deflection data to an Arduino unit. A fundamental haptic effect is achieved by elevating the minimum pressure required to deflect the joystick rod. Test measurements encompass detection of obstacles along the primary directions perpendicular to the electric vehicle’s trajectory, determination of the maximum achievable speed, and evaluation of the joystick’s maximum operational range within an illuminated environment.

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Section: Literature Backgroundmentioning

confidence: 99%