A cognition path planning with a nonlinear controller design for wheeled mobile robot based on an intelligent algorithm
Other Title(s)
تخطيط مسار مدرك مع تصميم مسيطر لأخطي لعجلات الإنسان الآلي مبني على أساس الخوارزمية الذكية
Joint Authors
Ahmad, Utarid Khudayr
al-Araji, Ahmad Sabah Abd al-Amir
Daghir, Khulud Iskandar
Source
Issue
Vol. 25, Issue 1 (31 Jan. 2019), pp.64-83, 20 p.
Publisher
University of Baghdad College of Engineering
Publication Date
2019-01-31
Country of Publication
Iraq
No. of Pages
20
Main Subjects
Earth Sciences, Water and Environment
Abstract EN
This paper presents a cognition path planning with control algorithm design for a nonholonomic wheeled mobile robot based on particle swarm optimization (pso) algorithm.
the aim of this work is to propose the circular roadmap (crm) method to plan and generate optimal path with free navigation as well as to propose a nonlinear mimo-pid-menn controller in order to track the wheeled mobile robot on the reference path.
the pso is used to find an online tune the control parameters of the proposed controller to get the best torques actions for the wheeled mobile robot.
the numerical simulation results based on the matlab package show that the proposed structure has a precise and highly accurate distance of the generated reference path as well as it has obtained a perfect torque control action without spikes and no saturation torque state that leads to minimize the tracking error for the wheeled mobile robot.
American Psychological Association (APA)
al-Araji, Ahmad Sabah Abd al-Amir& Ahmad, Utarid Khudayr& Daghir, Khulud Iskandar. 2019. A cognition path planning with a nonlinear controller design for wheeled mobile robot based on an intelligent algorithm. Journal of Engineering،Vol. 25, no. 1, pp.64-83.
https://search.emarefa.net/detail/BIM-875547
Modern Language Association (MLA)
al-Araji, Ahmad Sabah Abd al-Amir…[et al.]. A cognition path planning with a nonlinear controller design for wheeled mobile robot based on an intelligent algorithm. Journal of Engineering Vol. 25, no. 1 (Jan. 2019), pp.64-83.
https://search.emarefa.net/detail/BIM-875547
American Medical Association (AMA)
al-Araji, Ahmad Sabah Abd al-Amir& Ahmad, Utarid Khudayr& Daghir, Khulud Iskandar. A cognition path planning with a nonlinear controller design for wheeled mobile robot based on an intelligent algorithm. Journal of Engineering. 2019. Vol. 25, no. 1, pp.64-83.
https://search.emarefa.net/detail/BIM-875547
Data Type
Journal Articles
Language
English
Notes
Includes appendices : p. 73-83
Record ID
BIM-875547