Optimal feedback position control for an autonomous mobile robot

2000 ◽  
Author(s):  
C. Tarin ◽  
B. Tibken ◽  
H. Brugger ◽  
E.P. Hofer
Keyword(s):  
Mobile Robot ◽  
Position Control ◽  
Autonomous Mobile Robot ◽  
Optimal Feedback

scholarly journals Hybrid Kalman Filter/Fuzzy Logic based Position Control of Autonomous Mobile Robot

10.5772/5789 ◽  
2005 ◽  
Vol 2 (3) ◽  
pp. 20 ◽  
Author(s):  
Rerngwut Choomuang ◽  
Nitin Afzulpurkar
Keyword(s):  
Fuzzy Logic ◽  
Kalman Filter ◽  
Mobile Robot ◽  
Position Control ◽  
Ground Plane ◽  
Systematic Errors ◽  
Obstacle Detection ◽  
Main Concern ◽  
Autonomous Mobile Robot ◽  
Wheel Slip

This paper describes position control of autonomous mobile robot using combination of Kalman filter and Fuzzy logic techniques. Both techniques have been used to fuse information from internal and external sensors to navigate a typical mobile robot in an unknown environment. An obstacle avoidance algorithm utilizing stereo vision technique has been implemented for obstacle detection. The odometry errors due to systematic-errors (such as unequal wheel diameter, the effect of the encoder resolution etc.) and/or non-systematic errors (ground plane, wheel-slip etc.) contribute to various motion control problems of the robot. During the robot moves, whether straight-line and/or arc, create the position and orientation errors which depend on systematic and/or non-systematic odometry errors. The main concern in most of the navigating systems is to achieve the real-time and robustness performances to precisely control the robot movements. The objective of this research is to improve the position and the orientation of robot motion. From the simulation and experiments, we prove that the proposed mobile robot moves from start position to goal position with greater accuracy avoiding obstacles.

Control of Autonomous Mobile Robot Using Map Matching with Optimized Search Range

2013 ◽  
Vol 133 (5) ◽  
pp. 502-509 ◽  
Author(s):  
Kouhei Komiya ◽  
Shunsuke Miyashita ◽  
Yutaka Maruoka ◽  
Yutaka Uchimura
Keyword(s):  
Mobile Robot ◽  
Map Matching ◽  
Autonomous Mobile Robot ◽  
Search Range

FUZZY COGNITIVE MAPS EMBEDDED IN A LOW COST AUTONOMOUS MOBILE ROBOT

2019 ◽  
Author(s):  
Márcio Mendonça ◽  
Guilherme Bender Sartori ◽  
Lucas Botoni de Souza ◽  
Giovanni Bruno Marquini Ribeiro
Keyword(s):  
Mobile Robot ◽  
Low Cost ◽  
Cognitive Maps ◽  
Fuzzy Cognitive Maps ◽  
Autonomous Mobile Robot

Autonomous mobile robot platform with multi-variant task-specific end-effector and voice activation

2016 ◽  
Author(s):  
Jonathan Tapia ◽  
Eric Wineman ◽  
Patrick Benavidez ◽  
Aldo Jaimes ◽  
Ethan Cobb ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Autonomous Mobile Robot ◽  
End Effector ◽  
Robot Platform
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