Fuzzy control of mobile robot in slippery environment
The problem of independent motion control of mobile robot (МR) in conditions when unforeseen changes of conditions of interaction of wheels with a surface are considered. An example of such changes can be sudden entrance МR a slippery surface. The deployment of an autonomous unmanned ground vehi...
Guardado en:
| Autor principal: | |
|---|---|
| Formato: | article |
| Lenguaje: | EN |
| Publicado: |
Al-Khwarizmi College of Engineering – University of Baghdad
2017
|
| Materias: | |
| Acceso en línea: | https://doaj.org/article/57ef2234c581421aa09adc7d10ccb728 |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| id |
oai:doaj.org-article:57ef2234c581421aa09adc7d10ccb728 |
|---|---|
| record_format |
dspace |
| spelling |
oai:doaj.org-article:57ef2234c581421aa09adc7d10ccb7282021-12-02T05:46:59ZFuzzy control of mobile robot in slippery environment1818-11712312-0789https://doaj.org/article/57ef2234c581421aa09adc7d10ccb7282017-12-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/10https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 The problem of independent motion control of mobile robot (МR) in conditions when unforeseen changes of conditions of interaction of wheels with a surface are considered. An example of such changes can be sudden entrance МR a slippery surface. The deployment of an autonomous unmanned ground vehicle for field applications provides the means by which the risk to personnel can be minimized and operational capabilities improved. In rough terrain, it is critical for mobile robots to maintain good wheel traction. Wheel slip could cause the rover to lose control and become trapped. This paper describes the application of fuzzy control to a feedback system within slippery environment. The study is conducted on an example of МR with two driving wheels. Nabil Hassan HadiAl-Khwarizmi College of Engineering – University of BaghdadarticleKeywords: mobile robot, fuzzy control, wheel-ground contact modeling, dynamic modelChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 1, Iss 2 (2017) |
| institution |
DOAJ |
| collection |
DOAJ |
| language |
EN |
| topic |
Keywords: mobile robot, fuzzy control, wheel-ground contact modeling, dynamic model Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 |
| spellingShingle |
Keywords: mobile robot, fuzzy control, wheel-ground contact modeling, dynamic model Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Nabil Hassan Hadi Fuzzy control of mobile robot in slippery environment |
| description |
The problem of independent motion control of mobile robot (МR) in conditions when unforeseen changes of conditions of interaction of wheels with a surface are considered. An example of such changes can be sudden entrance МR a slippery surface. The deployment of an autonomous unmanned ground vehicle for field applications provides the means by which the risk to personnel can be minimized and operational capabilities improved. In rough terrain, it is critical for mobile robots to maintain good wheel traction. Wheel slip could cause the rover to lose control and become trapped. This paper describes the application of fuzzy control to a feedback system within slippery environment. The study is conducted on an example of МR with two driving wheels.
|
| format |
article |
| author |
Nabil Hassan Hadi |
| author_facet |
Nabil Hassan Hadi |
| author_sort |
Nabil Hassan Hadi |
| title |
Fuzzy control of mobile robot in slippery environment |
| title_short |
Fuzzy control of mobile robot in slippery environment |
| title_full |
Fuzzy control of mobile robot in slippery environment |
| title_fullStr |
Fuzzy control of mobile robot in slippery environment |
| title_full_unstemmed |
Fuzzy control of mobile robot in slippery environment |
| title_sort |
fuzzy control of mobile robot in slippery environment |
| publisher |
Al-Khwarizmi College of Engineering – University of Baghdad |
| publishDate |
2017 |
| url |
https://doaj.org/article/57ef2234c581421aa09adc7d10ccb728 |
| work_keys_str_mv |
AT nabilhassanhadi fuzzycontrolofmobilerobotinslipperyenvironment |
| _version_ |
1718400229959532544 |