Obstacles avoidance of a mobile robot using linear model adaptive control

العناوين الأخرى

تجنب العوائق لربوت متحرك باعتماد نموذج سيطرة خطي تكيفي

مقدم أطروحة جامعية

Ali, Tariq Yunus

مشرف أطروحة جامعية

Ali, Muhammad Mahdi

أعضاء اللجنة

al-Tikriti, Mundhir
al-Nuaymi, Ibrahim
Salahat, Mazuz A.

الجامعة

جامعة فيلادلفيا

الكلية

كلية الهندسة

القسم الأكاديمي

قسم هندسة الميكاترونكس

دولة الجامعة

الأردن

الدرجة العلمية

ماجستير

تاريخ الدرجة العلمية

2016

الملخص الإنجليزي

The ability to avoid static and dynamic obstacles is considered as the back bone of the mobile robot by which it reaches its predefined target safely.

Successful tests have been achieved for paths with different static obstacles existence along with dynamic ones using mobile robot named Robotino® from Festo Company.

Robotino® is capable to move in all directions with a controllable manner hence it is considered as good research system for mechatronics applications.

It is designed to implement different kinds of programs with various practical applications.

In order to avoid an obstacle 40 cm.

distances away, Robotino® uses nine infrared sensors.

But in order to increase the Robotino® coverage area, an ultrasonic sensor is attached at Robotino® body front side.

Also, the Robotino® shaft encoder is used to assign its instant coordinates in the sense of distance and orientation.

The basic idea of the proposed control algorithm is to update action based on linear adaptive model after avoiding any obstacle to ensure Robotino® safe movement toward its goal.

Many simulation experiments were successfully carried out with results have been translated to real-time experimental levels on a wooden surface workspace.

This workspace is used to eliminate of slippery movement of the Robotino® which can lead to inaccurate action.

The evaluation of the proposed control algorithm capabilities is carried out through a comparative study from literature.

When implementing the same features in a case of study, encouraging results were achieved.

Experiments were performed making use of all readings which Robotino® can offer.

These readings are used as performance indices for Robotino® time responses.

C++ programming language is used as a tool to implement the control algorithm and to interface I/O signals with Robotino®.

Key words: Mobile Robot, Robotino®, Obstacle Avoidance, Linear Adaptive Control.

التخصصات الرئيسية

الهندسة الميكانيكية

عدد الصفحات

38

قائمة المحتويات

• APA
• MLA
• AMA

لغة النص

الإنجليزية

نوع البيانات

رسائل جامعية

رقم السجل

BIM-725516