Real-time tracking control with obstacle avoidance of multiple mobile robots

2003 ◽  
Author(s):  
E. Hu ◽  
S.X. Yang ◽  
D.K.Y. Chiu ◽  
W.R. Smith
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Tracking Control ◽  
Multiple Mobile Robots ◽  
Real Time Tracking

Real-time obstacle avoidance for multiple mobile robots

Robotica ◽  
2009 ◽  
Vol 27 (2) ◽  
pp. 189-198 ◽  
Author(s):  
Farbod Fahimi ◽  
C. Nataraj ◽  
Hashem Ashrafiuon
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Panel Method ◽  
The Other ◽  
Harmonic Potential ◽  
Current Position ◽  
Multiple Mobile Robots ◽  
Moving Obstacles ◽  
Harmonic Potential Field

SUMMARYAn efficient, simple, and practical real time path planning method for multiple mobile robots in dynamic environments is introduced. Harmonic potential functions are utilized along with the panel method known in fluid mechanics. First, a complement to the traditional panel method is introduced to generate a more effective harmonic potential field for obstacle avoidance in dynamically changing environments. Second, a group of mobile robots working in an environment containing stationary and moving obstacles is considered. Each robot is assigned to move from its current position to a goal position. The group is not forced to maintain a formation during the motion. Every robot considers the other robots of the group as moving obstacles and hence the physical dimensions of the robots are also taken into account. The path of each robot is planned based on the changing position of the other robots and the position of stationary and moving obstacles. Finally, the effectiveness of the scheme is shown by modeling an arbitrary number of mobile robots and the theory is validated by several computer simulations and hardware experiments.

scholarly journals Electro-Hydraulic Proportional System Real Time Tracking Control Development Based on Pulse width Modulation Method

2021 ◽  
Vol 23 (4) ◽  
pp. B336-B345
Author(s):  
Ezz Eldin Ibrahim ◽  
Tarek Elnady ◽  
Mohamed Saffaa Hassan ◽  
Ibrahim Saleh
Keyword(s):  
Real Time ◽  
Tracking Control ◽  
Pulse Width ◽  
Pulse Width Modulation ◽  
Control Method ◽  
Modulation Method ◽  
Constant Input ◽  
Transient Time ◽  
Linear Variable Displacement Transducer ◽  
Real Time Tracking

The presented work was directed to develop the dynamic performance of an electro-hydraulic proportional system (EHPS). A mathematical model of the EHPS is presented using electro- hydraulic proportional valve (EHPV) by Matlab-Simulink, which facilitates the simulation of the hydraulic behavior inside the main control unit. Experimental work is done and the closed loop system is designed using the linear variable displacement transducer sensor (LVDT). The controller of the system is an Arduino uno, which is considered as a processor of the system. The model is validated by the experimental system. The study also presents a real time tracking control method, based on pulse width modulation, by controlling the speed of the actuator to achieve the position tracking with minimum error and low transient time, by applying the constant input signal 50mm the transient time was 0.9 seconds and the error 1.8%.

A Real-time Algorithm for Obstacle Avoidance of Autonomous Mobile Robots

Robotica ◽  
1992 ◽  
Vol 10 (3) ◽  
pp. 217-227 ◽  
Author(s):  
Huang Han-Pang ◽  
Lee Pei-Chien
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Time Algorithm ◽  
Autonomous Mobile Robots ◽  
Computational Time ◽  
Avoidance Problem

SUMMARYA real-time obstacle avoidance algorithm is proposed for autonomous mobile robots. The algorithm is sensor-based and consists of a H-mode and T-mode. The algorithm can deal with a complicated obstacle environment, such as multiple concave and convex obstacles. It will be shown that the algorithm is more efficient and more robust than other sensor-based algorithms. In addition, the algorithm will guarantee a solution for the obstacle avoidance problem. Since the algorithm only takes up a small computational time, it can be implemented in real time.

Sign in / Sign up

Export Citation Format

Share Document