MOTION CONTROL SYSTEM OF AUTONOMOUS MOBILE ROBOT
Article Sidebar
Open full text
Published:
Dec 9, 2014
Issue Vol. 4 No. 4 (2014)
Articles
-
CALCULATION OF EXTERNAL EXPOSURE DURING DISMANTLING AND SEGMENTATION OF STEAM GENERATOR
3-10
-
ANALYSIS AND VERIFICATION OF INTEGRATED CIRCUIT THERMAL PARAMETERS
11-15
-
DECONTAMINATION OF CONTAMINATED SCRAP METAL BY MELTING ARISEN FROM THE DECOMMISSIONING OF NUCLEAR POWER PLANT SHUT DOWN AFTER AN ACCIDENT
16-20
-
SELF AND MUTUAL IMPEDANCES OF RECTANGULAR BUS-BARS OF FINITE LENGTH
21-24
-
TECHNOLOGIES OF SUPERCONDUCTING TRANSFORMERS
25-27
-
SIMULATION OF MULTICOMPONENT POLLUTION FLUID FILTERING PROCESS USING N-LAYER FILTERS
28-31
-
AN OVERVIEW OF EVOLUTIONARY METHODS OF MULTI-CRITERIA OPTIMIZATION
32-34
-
EFFECTIVE EXPECTATION MAXIMIZATION ALGORITHM IMPLEMENTATION USING MULTICORE COMPUTER SYSTEMS
35-37
-
THE PROBLEM OF COALITION FORMATION MODELLING
38-40
-
THE PROBLEM OF SYSTEM FAULT-TOLERANCE
41-44
-
COMPARISON OF NUMERICAL MODELS OF PORTS OF A STRIPLINE
45-48
-
NUMERICAL MODELING OF ELECTROMAGNETIC FIELDS IN SIMPLIFIED MODEL OF HUMAN
49-52
-
HARDWARE AND SOFTWARE REALIZATION OF THE TRANSMISSION OF AUDIO INFORMATION ENCRYPTED BY CHAOTIC SEQUENCES
53-55
-
THE EFFECTIVENESS OF REACTIVE POWER COMPENSATION IN POWER DISTRIBUTION NETWORKS
56-58
-
PROCESS AUTOMATION OF CONTINUOUS QUALITY CONTROL OF MIXTURE PREPARATION AT THE DISTILLERY
59-61
-
TWO-MODULAR SYSTEM FOR PROCESSING EEG DATA USING FACTOR ANALYSIS AND MOORE-PENROSE PSEUDOINVERSION
62-64
-
MONITORING AND ENVIRONMENTAL RESEARCH OF AIR QUALITY WITH THE USE OF MASS SPECTROMETRY
65-68
-
COMBUSTION OF COAL AND ALTERNATIVE FUELS IN OXY-FUEL ATMOSPHERE
69-72
-
EVALUATING REGIONS FOR DIGITAL WATERMARKING WITH PIXEL IMPACT FACTOR AND QUANTIZATION IN SPATIAL DOMAIN
73-76
-
ANALYSIS AND EVALUATION OF THE BASIC STRUCTURES OF ACTIVE EMI FILTERS
77-80
-
PRACTICAL REALIZATION OF IDEAL DIODE FULL-WAVE RECTIFIERS
81-84
-
APPLICATION OF THE INTERVAL LATTICE BOLTZMANN METHOD FOR A NUMERICAL MODELLING OF THIN METAL FILMS IRRADIATION BY ULTRA SHORT LASER PULSES
85-88
-
MOTION CONTROL SYSTEM OF AUTONOMOUS MOBILE ROBOT
89-93
-
CHEMICALLY-MODIFIED POLYANILINE AS A NEW CONDUCTING FILLER FOR POLYMER COMPOSITES
94-97
-
CHARACTERISATION OF NANOFIBROUS SEPARATORS FOR LITHIUM-ION BATTERIES
98-101
-
REMOTE MONITORING OF CO-FIRING FURNACES
102-104
-
WHETHER RES ARE COMPETITIVE FOR CONVENTIONAL SOURCES?
105-108
-
MULTIVARIATE MAGNETIC FIELD ANALYSIS AND LEVITATION FORCE CALCULATION OF THE ACTIVE AXIAL MAGNETIC BEARING (AAMB)
109-112
-
RESEARCH OF DC/DC CONVERTER WITH ISOLATION TRANSFORMER TO SUPPLY THE NEEDS OF TRACTION VEHICLES
113-116
Main Article Content
DOI
Authors
Abstract
In this article the motion control system of autonomous mobile robot is described. Four motion modes: motion mode “to the target”, motion mode “obstacles avoidance”, motion mode “along the right wall” and motion mode “along the left wall” are implemented. A method for determining the effective rotation angle of mobile robot which is a linear combination of rotation angles which are obtained in different motion modes and activation coefficients is proposed. Fuzzy-oriented method with high accuracy and performance is used for motion modes implementation and for finding values of activation coefficients.
Keywords:
mobile robot, motion control system, fuzzy logic, linear regression
Article Details
Tsmots, I., Vavruk, I., & Tkachenko, R. (2014). MOTION CONTROL SYSTEM OF AUTONOMOUS MOBILE ROBOT. Informatyka, Automatyka, Pomiary W Gospodarce I Ochronie Środowiska, 4(4), 89–93. https://doi.org/10.5604/20830157.1130204
