A novel inertia moment estimation algorithm collaborated with active force control scheme for wheeled mobile robot control in constrained environments

Ali, Mohammed A.H. and Radzak, Muhammad S.A. and Mailah, Musa and Yusoff, Nukman and Abd Razak, Bushroa and Ab. Karim, Mohd Sayuti and Ameen, Wadea and A. Jabbar, Waheb and Alsewari, AbdulRahman A. and Rassem, Taha H. and Nasser, Abdullah B. and Abdulmolla Abdulghafor, Rawad Abdulkhaleq (2021) A novel inertia moment estimation algorithm collaborated with active force control scheme for wheeled mobile robot control in constrained environments. Expert Systems With Applications, 183. pp. 1-29. ISSN 0957-4174

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Abstract

This paper presents a novel inertia moment estimation algorithm to enable the Active Force Control Scheme for tracking a wheeled mobile robot (WMR) effectively in a specific trajectory within constrained environments such as on roads or in factories. This algorithm, also known as laser simulator logic, has the capability to estimate the inertia moment of the AFC-controller when the robot is moving in a pre-planned path with the presence of noisy measurements. The estimation is accomplished by calculating the membership function based on the experts’ views in any form (symmetric or non-symmetric) with lowly or highly overlapped linguistic variables. A new Proportional-Derivative Active Force Controller (PD-AFC-LS-QC), employing the use of laser simulator logic and quick compensation loop, has been developed in this paper to robustly reject the noise and disturbances. This controller has three feedback control loops, namely, internal, external and quick compensation loops to compensate effectively the disturbances in the constrained environments. A simulation and experimental studies on WMR path control in two kinds of environments; namely, zigzag and highly curved terrains, were conducted to verify the proposed algorithm and controller which was then compared with other existed control schemes. The results of the simulation and experimental works show the capability of the proposed algorithms and the controller to robustly move the WMR in the constrained environments.

Item Type:	Article (Journal)
Additional Information:	8638/90699
Uncontrolled Keywords:	Laser simulator logic (LSL) Noisy and constraint environment Wheeled mobile robot (WMR) Active force control (AFC)
Subjects:	T Technology > TJ Mechanical engineering and machinery
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Information and Communication Technology Kulliyyah of Information and Communication Technology Kulliyyah of Information and Communication Technology > Department of Computer Science Kulliyyah of Information and Communication Technology > Department of Computer Science
Depositing User:	Dr. Rawad Abdulghafor
Date Deposited:	08 Jul 2021 14:23
Last Modified:	03 Aug 2021 09:54
URI:	http://irep.iium.edu.my/id/eprint/90699

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