Mathematical analysis of a line-follower robot, a stable controller design using Lyapunov approach, and experimental tests

Asham, Amin Danial

doi:10.1007/s40435-022-00973-x

Cited by 2 publications

(1 citation statement)

References 14 publications

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“…1), and it is possible to distinguish a subset of those that rely on the reproduction of a pre-programmed route, such as where a map that has been pre-designed and uploaded, or a route that is mapped by markers or lines [1][2][3]. A distinction can be drawn between those that rely on reference points, such as magnetic lines [4], RFID [5,6], QRCode [7,8], and others, and those that employ image recognition [9] and artificial intelligence techniques [10][11][12][13]. Another group uses sound (ultrasonic) waves [14,15] or electromagnetic waves, such as laser [16][17][18], infrared [19] technologies, and radio waves [20][21][22], such as Bluetooth [23] or UWB [24,25] technologies.…”

Section: The Classification and Selection Of Localization Methodsmentioning

confidence: 99%

A review on positioning techniques of mobile robots

Semborski,

Idzkowski

2024

Robot. syst., appl.

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In this article, we have reviewed the available positioning, localization and navigation techniques for mobile robots. Different localization techniques based on diverse technologies are compared with one another, along with diverse algorithms and techniques for analyzing this information. The article highlights algorithms based on odometry, triangulation, visual analysis, and marker detection. The analysis included global, local, and personal location. One acquires knowledge on which method is suitable for indoor use and which for outdoor use, as well as the appropriate environmental conditions for each. The accuracy of the individual methods was compared with that of integrated systems consisting of several methods. For practical knowledge, it is possible to determine whether a particular method is cost-effective for a particular solution and to compare the expenses involved.

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Section: The Classification and Selection Of Localization Methodsmentioning

confidence: 99%

A review on positioning techniques of mobile robots

Semborski,

Idzkowski

2024

Robot. syst., appl.

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A New Approach of a Path Tracking System of a Differential Drive Robot for An Arbitrary Set of Waypoints Using Sliding Mode Control

Asham

2024

Preprint

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Autonomous differential-drive robots are typically controlled to follow a desired path. This path may be defined by a continuous curve or set of waypoints. A few studies have examined cases in which a path is defined by an arbitrary set of waypoints. This paper introduces a new approach to a path-tracking system for an arbitrary set of waypoints using a sliding mode control (SMC) system. This approach is based on the nonlinear kinematic model of the tracking error derived in this study for a differential-drive robot. Based on the derived error model, a sliding mode controller is introduced to drive the tracking error to zero. The stability of the system was also investigated. In addition, the effects of robot dynamics were incorporated into the proposed controller without prior knowledge of the exact parameters of the robot. Simulations were conducted to compare the proposed control system with a widely used approach to demonstrate the effectiveness of the proposed controller. The proposed technique was verified through real-time experimental tests using a differential drive robot.

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Mathematical analysis of a line-follower robot, a stable controller design using Lyapunov approach, and experimental tests

Cited by 2 publications

References 14 publications

A review on positioning techniques of mobile robots

A review on positioning techniques of mobile robots

A New Approach of a Path Tracking System of a Differential Drive Robot for An Arbitrary Set of Waypoints Using Sliding Mode Control

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