Global Path Planning and Path-Following for Wheeled Mobile Robot Using a Novel Control Structure Based on a Vision Sensor

Dirik, Mahmut; Kocamaz, Adnan Fatih; Castillo, Oscar

doi:10.1007/s40815-020-00888-9

Cited by 29 publications

(16 citation statements)

References 26 publications

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“…The path is planned step by step during robot motion. The difference between these methods is summarized in table (I) [17]- [19]. The algorithm produces a whole path from the initial point to the target point before the robot begins its movement.…”

Section: Path Planning Based On Plan Typementioning

confidence: 99%

A Review on Path Planning Algorithms for Mobile Robots

Abed¹,

Lutfy²,

Al-Doori³

2021

ETJ

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Mobile robots use is rising every day. Path planning algorithms are needed to make a traveler of robots with the least cost and without collisions. Many techniques have been developed in path planning for mobile robot worldwide, however, the most commonly used techniques are presented here for further study. This essay aims to review various path planning strategies for mobile robots using different optimization methods taken recent publisher’s paper in last five year.

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Section: Path Planning Based On Plan Typementioning

confidence: 99%

A Review on Path Planning Algorithms for Mobile Robots

Abed¹,

Lutfy²,

Al-Doori³

2021

ETJ

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“…The path’s optimality is measured with respect to the traversed path length and navigation time, etc. Navigation in unknown environments with stationary and/or mobile obstacles is the main challenge for wheeled mobile robots [ 4 , 5 ].…”

Section: Introductionmentioning

confidence: 99%

Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning

Gharajeh

Jond

2021

Sensors

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Mobile robots are endeavoring toward full autonomy. To that end, wheeled mobile robots have to function under non-holonomic constraints and uncertainty derived by feedback sensors and/or internal dynamics. Speed control is one of the main and challenging objectives in the endeavor for efficient autonomous collision-free navigation. This paper proposes an intelligent technique for speed control of a wheeled mobile robot using a combination of fuzzy logic and supervised machine learning (SML). The technique is appropriate for flexible leader-follower formation control on straight paths where a follower robot maintains a safely varying distance from a leader robot. A fuzzy controller specifies the ultimate distance of the follower to the leader using the measurements obtained from two ultrasonic sensors. An SML algorithm estimates a proper speed for the follower based on the ultimate distance. Simulations demonstrated that the proposed technique appropriately adjusts the follower robot’s speed to maintain a flexible formation with the leader robot.

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“…Because the property of forecast time, as a free parameter in the control rules, makes it possible to achieve a compromise between tracking accuracy and applicable control inputs such as the proposed method and predictive control, which in the studied methods alone cannot be considered as a Solve all control issues related to tracking and stability of the wheeled robot along with the trailer. 33 In the case of non-holonomic systems, designing a stabilizing feedback rule is difficult, so it may be a little difficult to predict that the goal of optimizing the control signal model is always to solve a constrained optimization problem. 12 Especially in limited cases, predictive control has been used less to control an N -section system such as a tractor trailer, because in addition to minimizing the cost function, physical constraints must also be met.…”

Section: Introductionmentioning

confidence: 99%

Stability and control of the nonlinear system for tractor with N trailer in the presence of slip

Jalalnezhad

Fazeli

Bozorgomid

et al. 2021

Advances in Mechanical Engineering

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In many engineering systems, it is not enough to merge the system paths to zero at infinite time, but the speed of moving these paths to zero is very important. Estimating this speed can be done using exponential functions. This concept is used in exponential stability definition. The purpose of this paper is to design a controller for problem inputs and implement a system of a car with N to a trailer connected to it. This approach is based on the analysis of the Lyapunov stability method. In the given problem, the purpose of conducting and converging the system considering the slip phenomenon as a primitive uncertainty in the system is toward the desired point. Since the trailer tractor system has limitation constraints in the modeling structure, it is difficult to guarantee the stability of a non-holonomic system. Because no controller designed by the control feedback method can continuously and stable ensure the convergence of the system. If this possibility almost dynamic errors, even adaptive controls do not versatile with the operation of the Lyapunov function, especially in the presence of uncertainties, which is a very important factor in system instability, which requires the development of controllers designed to deal with these disturbances. In the simulated results, this paper not only examines the convergence properties, but also shows the ability to control the system by designing a controller in the presence of a slip phenomenon to strengthen the system in the stability debate.

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Global Path Planning and Path-Following for Wheeled Mobile Robot Using a Novel Control Structure Based on a Vision Sensor

Cited by 29 publications

References 26 publications

A Review on Path Planning Algorithms for Mobile Robots

A Review on Path Planning Algorithms for Mobile Robots

Speed Control for Leader-Follower Robot Formation Using Fuzzy System and Supervised Machine Learning

Stability and control of the nonlinear system for tractor with N trailer in the presence of slip

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