Mobile robots are used in nearly every field of the human world. Constant research in the field of a mobile robot has been done in the past three decades. In the past decade particularly, interest in this field has undergone tremendous improvement. Because of particular needs required by various applications of mobile robots the efficient collision avoidance and path following needs to be developed to control robots in unknown environments. In this thesis, the kinematic and dynamic model of the four-wheeled mobile robot was studied. This thesis identified a robot controller, that was proportional-integral-derivative (PID) control. This control approach is implemented via the MATLAB/Simulink software into the kinematic and dynamic models of the robot. Probabilistic Roadmap (PRM) algorithm was used to generate the reference trajectory. In the simulation, several predetermined paths were given to robots where the robots did not know the paths, and it needed to change and respond to different paths. The controller was considered effective when it could obey the predetermined path accordingly and efficiently. It displayed that robot was effectively following the reference trajectory with small error and avoided obstacles that came in a path.
Kinematics, dynamics, and control of four-wheeled mobile robot
2017-12-01
Miscellaneous
Electronic Resource
English
DDC: | 629 |