MODELING AND OPTIMAL TRAJECTORY TRACKING CONTROL OF WHEELED A MOBILE ROBOT

Tayfun ABUT; Mesut HUSEYİNOĞLU

Makale detayları

MODELING AND OPTIMAL TRAJECTORY TRACKING CONTROL OF WHEELED A MOBILE ROBOT

Yazarlar:

Tayfun ABUT | Mesut HUSEYİNOĞLU

Yayıncı:

Kafkas University

Ana Başlıklar:

Ekoloji

Dergi:

Caucasian Journal of Science 2019 Vol.6 Issue 2, pp.137-146

Belge Tipi:

Makale

Yayın Tarihi:

12/2019

Belge Dili:

İngilizce

Document ID (Org No.):

2000903719

Sıklık:

İki Yıllık

eISSN:

2148-6840

Özet:

 

Mobile robots have an unlimited workspace, unlike
conventional fixed to the robot. Therefore, they are frequently studied from
past to present. In this study, it is aimed to model wheeled a mobile
robot(WMR) and realize optimal trajectory tracking control. The mathematical model
of the robot was obtained. The Linear Quadratic Regulator (LQR) method, one of
the optimum control methods for controlling the robot has been proposed. The Q
and R parameters affecting the performance of the proposed control method were
obtained by using the Firefly optimization algorithm. Both process noise and
measurement noise have been added to control the robot in conditions close to
the actual ambient conditions. As a result, in order to demonstrate the
validity of the obtained model and the proposed control method, the robot was
performed control in the simulation environment. The obtained results were
given graphically and the results were examined.

Makale detayları

MODELING AND OPTIMAL TRAJECTORY TRACKING CONTROL OF WHEELED A MOBILE ROBOT

Yazarlar: Tayfun ABUT | Mesut HUSEYİNOĞLU

Yayıncı: Kafkas University

Ana Başlıklar: Ekoloji

Dergi: Caucasian Journal of Science 2019 Vol.6 Issue 2, pp.137-146

Belge Tipi: Makale

Yayın Tarihi: 12/2019

Belge Dili: İngilizce

Document ID (Org No.): 2000903719

Sıklık: İki Yıllık

eISSN: 2148-6840

Sayı

Yazarlar:

Tayfun ABUT | Mesut HUSEYİNOĞLU

Yayıncı:

Kafkas University

Ana Başlıklar:

Ekoloji

Dergi:

Caucasian Journal of Science 2019 Vol.6 Issue 2, pp.137-146

Belge Tipi:

Makale

Yayın Tarihi:

12/2019

Belge Dili:

İngilizce

Document ID (Org No.):

2000903719

Sıklık:

İki Yıllık

eISSN:

2148-6840