پیوندهای مفید
آمار
| تعداد نشریات | 8 |
| تعداد شماره‌ها | 430 |
| تعداد مقالات | 5,597 |
| تعداد مشاهده مقاله | 7,096,013 |
| تعداد دریافت فایل اصل مقاله | 6,042,211 |
Trajectory Tracking and Formation Control of Mobile Robots Using Fuzzy Logic Controller with Obstacle Avoidance | ||
| AUT Journal of Electrical Engineering | ||
| دوره 57، شماره 1، 2025، صفحه 55-70 اصل مقاله (1.19 M) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/eej.2024.23254.5596 | ||
| نویسندگان | ||
| Seyedeh Mahsa Zakipour Bahambari1؛ Saeed Khankalantary* 2 | ||
| 1Department of Electrical Engineering, K.N. Toosi University of Technology, Tehran, Iran. | ||
| 2Department of Electrical Engineering, K.N. Toosi University of Technology, Tehran, Iran | ||
| چکیده | ||
| In various industries, the coordinated movements of mobile robots in triangular formations hold promise for enhancing efficiency and safety. This study investigates trajectory tracking and formation control using two distinct methodologies: the PID controller and the Fuzzy Logic Controller (FLC). Under ideal conditions, both controllers exhibit precise navigation and formation maintenance. Notably, the leader robot has a simulated virtual sensor for obstacle avoidance. The followers emulate the leader’s path using the selected controller methodology. However, when exposed to external disturbances, modeled as sinusoidal waves, the FLC, with its superior adaptability and resilience, demonstrates its potential as a robust solution for real-world applications susceptible to disturbances. This research emphasizes the pivotal role of controller selection in practical scenarios and reiterates the FLC’s potential, instilling confidence in its effectiveness. | ||
| کلیدواژه‌ها | ||
| Mobile-Robots؛ PID Controller؛ Fuzzy Logic Controller؛ Formation Control؛ Disturbance | ||
| مراجع | ||
|
[1] N. Y. Allagui and N. Derbel, "Fuzzy PI controller for mobile robot navigation and tracking," in 2018 15th International Multi-Conference on Systems, Signals & Devices (SSD), 2018: IEEE, pp. 1178-1183.
[2] D. Takura and K. Akatsu, "Variable characteristics DC motor by changing brush lead angle to expand the operation range," in 2015 9th International Conference on Power Electronics and ECCE Asia (ICPE-ECCE Asia), 2015: IEEE, pp. 695-700.
[3] S. Treratanakulchai and J. Suthakorn, "Effective vital sign sensing algorithm and system for autonomous survivor detection in rough-terrain autonomous rescue robots," in 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), 2014: IEEE, pp. 831-836.
[4] M. Elsisi and M. Soliman, "Optimal design of robust resilient automatic voltage regulators," ISA transactions, vol. 108, pp. 257-268, 2021.
[5] M. Elsisi, "New variable structure control based on different meta‐heuristics algorithms for frequency regulation considering nonlinearities effects," International Transactions on Electrical Energy Systems, vol. 30, no. 7, p. e12428, 2020.
[6] M. Elsisi, N. Bazmohammadi, J. M. Guerrero, and M. A. Ebrahim, "Energy management of controllable loads in multi-area power systems with wind power penetration based on new supervisor fuzzy nonlinear sliding mode control," Energy, vol. 221, p. 119867, 2021.
[7] M. Elsisi, K. Mahmoud, M. Lehtonen, and M. M. Darwish, "Effective nonlinear model predictive control scheme tuned by improved NN for robotic manipulators," IEEE Access, vol. 9, pp. 64278-64290, 2021.
[8] H. Omrane, M. S. Masmoudi, and M. Masmoudi, "Fuzzy logic based control for autonomous mobile robot navigation," Computational intelligence and neuroscience, vol. 2016, 2016.
[9] S. Khankalantary, I. Izadi, and F. Sheikholeslam, "Robust ADP-based solution of a class of nonlinear multi-agent systems with input saturation and collision avoidance constraints," ISA transactions, vol. 107, pp. 52-62, 2020.
[10] S. Zhao, "Affine formation maneuver control of multiagent systems," IEEE Transactions on Automatic Control, vol. 63, no. 12, pp. 4140-4155, 2018.
[11] N. V. Kumar and C. S. Kumar, "Development of collision free path planning algorithm for warehouse mobile robot," Procedia computer science, vol. 133, pp. 456-463, 2018.
[12] H. Lee and J. Jeong, "Mobile robot path optimization technique based on reinforcement learning algorithm in warehouse environment," Applied sciences, vol. 11, no. 3, p. 1209, 2021.
[13] M. H. Ko, B.-S. Ryuh, K. C. Kim, A. Suprem, and N. P. Mahalik, "Autonomous greenhouse mobile robot driving strategies from system integration perspective: Review and application," IEEE/ASME Transactions On Mechatronics, vol. 20, no. 4, pp. 1705-1716, 2014.
[14] H. Durmuş, E. O. Güneş, M. Kırcı, and B. B. Üstündağ, "The design of general purpose autonomous agricultural mobile-robot:“AGROBOT”," in 2015 Fourth International Conference on Agro-Geoinformatics (Agro-geoinformatics), 2015: IEEE, pp. 49-53.
[15] K. Nagatani et al., "Redesign of rescue mobile robot Quince," in 2011 IEEE international symposium on safety, security, and rescue robotics, 2011: IEEE, pp. 13-18.
[16] A. Birk, K. Pathak, S. Schwertfeger, and W. Chonnaparamutt, "The IUB Rugbot: an intelligent, rugged mobile robot for search and rescue operations," in IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR). IEEE Press, 2006, vol. 10.
[17] L. Van Nguyen, S. Gibb, H. X. Pham, and H. M. La, "A mobile robot for automated civil infrastructure inspection and evaluation," in 2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2018: IEEE, pp. 1-6.
[18] Q. Lu and Q.-L. Han, "Mobile robot networks for environmental monitoring: A cooperative receding horizon temporal logic control approach," IEEE transactions on cybernetics, vol. 49, no. 2, pp. 698-711, 2018.
[19] G. Klancar, A. Zdesar, S. Blazic, and I. Skrjanc, Wheeled mobile robotics: from fundamentals towards autonomous systems. Butterworth-Heinemann, 2017.
[20] K. H. Kowdiki, R. K. Barai, and S. Bhattacharya, "Leader-follower formation control using artificial potential functions: A kinematic approach," in IEEE-International Conference On Advances In Engineering, Science And Management (ICAESM-2012), 2012: IEEE, pp. 500-505.
[21] H. Takahashi, H. Nishi, and K. Ohnishi, "Autonomous decentralized control for formation of multiple mobile robots considering ability of robot," IEEE Transactions on Industrial Electronics, vol. 51, no. 6, pp. 1272-1279, 2004.
[22] H. S. Dewang, P. K. Mohanty, and S. Kundu, "A robust path planning for mobile robot using smart particle swarm optimization," Procedia computer science, vol. 133, pp. 290-297, 2018.
[23] P. Renaud, E. Cervera, and P. Martiner, "Towards a reliable vision-based mobile robot formation control," in 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)(IEEE Cat. No. 04CH37566), 2004, vol. 4: IEEE, pp. 3176-3181.
[24] R. Olfati-Saber, "Flocking for multi-agent dynamic systems: Algorithms and theory," IEEE Transactions on automatic control, vol. 51, no. 3, pp. 401-420, 2006.
[25] F. Morbidi, G. L. Mariottini, and D. Prattichizzo, "Observer design via immersion and invariance for vision-based leader–follower formation control," Automatica, vol. 46, no. 1, pp. 148-154, 2010.
[26] X. Li, J. Xiao, and Z. Cai, "Backstepping based multiple mobile robots formation control," in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005: IEEE, pp. 887-892.
[27] H. Bolandi, M. Rezaei, R. Mohsenipour, H. Nemati, and S. M. Smailzadeh, "Attitude control of a quadrotor with optimized PID controller," 2013.
[28] M. Mucientes, D. L. Moreno, A. Bugarín, and S. Barro, "Design of a fuzzy controller in mobile robotics using genetic algorithms," Applied Soft Computing, vol. 7, no. 2, pp. 540-546, 2007.
[29] A. Ghanbarzadeh and E. Najafi, "Design of an optimized fuzzy controller for a 3r non-planar robotic manipulator," in 2021 9th RSI International Conference on Robotics and Mechatronics (ICRoM), 2021: IEEE, pp. 287-292. | ||
|
آمار تعداد مشاهده مقاله: 459 تعداد دریافت فایل اصل مقاله: 455 |
||