جستجوی مقالات مرتبط با کلیدواژه « ربات متحرک غیرهولونومیک » در نشریات گروه « مکانیک »

This paper is concerned with the controller design for formation of a group of non-holonomic mobile robots based on distributed suboptimal method in the presence of environmental obstacles. Formation control of mobile robots is one of the important aspects in group movement and cooperative behavior of multi-agent systems. Challenges and constraints on procedure mechanisms and unknown dynamic environments have made the control process of such systems more complicated. In this study, integrated leader-follower method and behavioral approach also for each of the desired behaviors including geometrical formation, trajectory tracking and obstacle collision avoidance, a cost function and a formation error dynamic equation are defined as constraints. The main goal in the present paper is to design an optimum control law for the robots applicable to the whole constraints and limits of the problem while minimizing certain criterion. The present research study also presents a stability analysis to show the closed loop system is stable and works optimally. The simulation results illustrate the effectiveness and efficient performance of the proposed suboptimal control law design.

In this article, a novel control of wheeled mobile robot based on machine vision is considered. One of the common methods for controlling such systems is the use of Model Predictive Control (MPC) algorithms. In these systems, the response speed of the control algorithm and the optimality of these are two basic factors for achieving the optimal performance. Also, the impossibility of achieving precise values of the robot parameters and their variation during the operation of the robot is an important challenge in the implementation of the controller, therefore, this paper focuses on real-time and robust MPC, so that it can ensure the system against uncertainties and environmental disturbances in addition to the optimal and real-time response. Hence, the optimization based on projection recurrent neural network (PRNN) has been used as an optimizer to reduce the calculation time cost. The combination of PRNN optimization with MPC leads to new formulation and constraints that are considered to be the article innovations. Finally, in order to verify the validity of the proposed algorithm, the robot passes through the corridor with the presence of obstacles, which is simulated in the V-REP software. The results show that the optimum control input speed has been increased in comparison with similar methods, and the optimal path selection by the fuzzy system in the presence of obstacles has been well suited.

nonholonomic mobile robots are widely used in industrial environments due to their extended workspace. Also, to increase the productivity and efficiency of the mobile robot, their path planning is an important task, and is attracted attention of many of robotic scientists. In this paper, the optimal path planning of the wheeled mobile robots are performed considering their nonlinear dynamic equations and the nonholonomic constraints. Problem of the trajectory optimization is formulated, and conditions of the optimality are derived as a set of nonlinear differential equations by means of indirect method of optimal control method. Then, the optimality equations are solved numerically, and variant simulations are executed. To verify the simulation study, some experimental analysis are done for the Scout mobile robot and compared to the simulation results. The experimental analysis verifies the simulation results, and demonstrates the applicability of the proposed method for the optimal path planning of the mobile robots.