This article describes an embedded system for controlling the mobility of omnidirectional mobile robots. A homonymic robot is a kind of omnidirectional mobile robot. It is capable of simultaneous and autonomous translation and rotation. A robotic soccer competition, the Robocop small-size league, will serve as the study platform for this article. The first part of this research will consist of the design and construction of an embedded system that will be capable of interacting with a remote server via a wireless connection and executing instructions received from the server after being configured. As a second contribution, we propose a fuzzytuned proportionate-integral (PI) route planner and an accompanying low-level controller for getting the optimal input for operating an omnidirectional mobile robot using a linear discrete dynamic model. Additionally, velocity and acceleration filters are used to conform to planning criteria and prevent slippage. Multiple –input -multiple-output velocity acceleration and deceleration are investigated using low-level optimal controllers such as a linear quadratic regulator (LQR). In this case, the LQR controller operates on the robot and receives data from motor encoders or sensors. A fuzzy adaptive PI is also used as a controller for position monitoring, and an appropriate vision system delivers position input. This research demonstrates a considerable advancement over a standard PI controller with regards to the fuzzyPI LQR controller. ; IJSRED - International Journal of Scientific Research and Engineering Development
Embedded System for Motion Control of an Omni Directional Mobile Robot
2022-01-30
oai:zenodo.org:5919657
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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