Vision based tracking control of an autonomous mobile robot in an indoor environment

Saidon, Mohd Saifizi; Hazry, D.; Nagarajan, R.; Paulraj, Michael Gabriel

doi:10.1109/icsgrc.2011.5991819

Cited by 7 publications

(9 citation statements)

References 6 publications

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“…Robot arm dynamics deals with the mathematical formulations of the equations of robot arm motion. The dynamic equations of motion of a manipulator are a set of mathematical equations describing the dynamic behavior of the manipulator [3][4][5].…”

Section: Manipulator Dynamicsmentioning

confidence: 99%

“…The motion control problem consists of obtaining dynamic models of the manipulator, and using these models to determine control laws to achieve the desired system response and performance. The dynamic model of multi-link robot arm can be described by [3,4,11]. The simplified model of a two-link manipulator system is shown in Fig.1.…”

Section: Manipulator Dynamicsmentioning

confidence: 99%

“…Since, the robotic manipulators have complicated nonlinear mathematical models. Control systems based on the system model are difficult to design [1][2][3][4][5][6]. Controlling the position and velocity of the robot axes of motion generates the motion of the end effectors.…”

Section: Introductionmentioning

confidence: 99%

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A Fuzzy Logic Controllerfora Two-Link Functional Manipulator

Hussein¹,

Saleh²

2014

IJCNC

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This paper presents a new approach for designing a Fuzzy Logic Controller "FLC"for a dynamically multivariable nonlinear coupling system. The conventional controller with constant gains for different operating points may not be sufficient to guarantee satisfactory performance for Robot manipulator. The Fuzzy Logic Controller utilizes the error and the change of error as fuzzy linguistic inputs to regulate the system performance. The proposed controller have been developed to simulate the dynamic behavior of A Two-Link Functional Manipulator. The new controller uses only the available information of the inputoutput for controlling the position and velocity of the robot axes of the motion of the end effectors KEYWORDS

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Section: Manipulator Dynamicsmentioning

confidence: 99%

Section: Manipulator Dynamicsmentioning

confidence: 99%

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A Fuzzy Logic Controllerfora Two-Link Functional Manipulator

Hussein¹,

Saleh²

2014

IJCNC

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“…Practically, the use of optical sensors and image p rocessing are the major factors affecting the accuracy of navigation [1]. In navigation application, a mobile robot must interpret its sensors data to extract environ ment informat ion, with which the mobile robot can determine its position [2]. After mobile robot can localize its position, it must decide how to act to ach ieve its purpose.…”

Section: Introductionmentioning

confidence: 99%

“…After mobile robot can localize its position, it must decide how to act to ach ieve its purpose. Lastly, the mobile robot must control its drive system to achieve the desired path [2] [3]. The increment distance of the robot"s movement sensed with wheel encoders is integrated to calcu late position.…”

Section: Introductionmentioning

confidence: 99%

Vision Based Mobile Robot Navigation System

Saifizi¹,

Hazry²,

Nor³

2012

CONTROL

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The purpose of the vision system is to recognize the circle as landmark and identify the distance and orientation in a series of reference target image automatically fro m the closed -range navigation. In order to identify position in an indoor environment, a mobile robot requires attention to characteristics of a target which is to allow mobile robots to make inference in which the distance and orientation of the target and a robot. In this study, fuzzy logic is applied to generate target trajectory movement with the information extracted fro m vision system such as the distance and the orientation of target. The fuzzy logic controller (FLC) wh ich computes the required speed and angular speed needed by the two motors to drives the robot for target trajectory.

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