TELKOMNIKA Telecommunication, Computing, Electronics and Control
Design of a controller for wheeled mobile robots based on automatic movement sequencing
Dublin Core
Title
TELKOMNIKA Telecommunication, Computing, Electronics and Control
Design of a controller for wheeled mobile robots based on automatic movement sequencing
Design of a controller for wheeled mobile robots based on automatic movement sequencing
Subject
Controller, Genetic algorithm, Optimization algorithm, Sensor, Wheeled mobile robots
Description
There are many kinds of robots and among them the wheeled mobile robots
(WMR) stand out, because they are relatively cheap and easy to build. These features make WMRs the test prototypes for control strategies or motion generation. In general, the controllers developed are based on sensory schemes that give an WMR the ability to travel through flat or obstructed environments. However, these strategies are highly reactive, i.e. they are based on the control-action scheme and are not adaptive; or, they are motion schemes built from simulations that assume the environmental conditions to determine the robot's path. In both cases, WMRs do not adapt perfectly to the change of environment, since the controller does not find appropriate movements for the robot to move from one point to another. Therefore, this article proposesa partial solution to this problem, with a controller that generates sets of adaptive movements for an WMR to travel around its environment from the sensory perception information.
(WMR) stand out, because they are relatively cheap and easy to build. These features make WMRs the test prototypes for control strategies or motion generation. In general, the controllers developed are based on sensory schemes that give an WMR the ability to travel through flat or obstructed environments. However, these strategies are highly reactive, i.e. they are based on the control-action scheme and are not adaptive; or, they are motion schemes built from simulations that assume the environmental conditions to determine the robot's path. In both cases, WMRs do not adapt perfectly to the change of environment, since the controller does not find appropriate movements for the robot to move from one point to another. Therefore, this article proposesa partial solution to this problem, with a controller that generates sets of adaptive movements for an WMR to travel around its environment from the sensory perception information.
Creator
Holman Montiel Ariza, Fredy H. Martínez S., Fernando Martínez S.
Source
DOI: 10.12928/TELKOMNIKA.v18i6.16431
Publisher
Universitas Ahmad Dahlan
Date
October 2020
Contributor
Sri Wahyuni
Rights
ISSN: 1693-6930
Relation
http://journal.uad.ac.id/index.php/TELKOMNIKA
Format
PDF
Language
English
Type
Text
Coverage
TELKOMNIKA Telecommunication, Computing, Electronics and Control
Files
Collection
Citation
Holman Montiel Ariza, Fredy H. Martínez S., Fernando Martínez S., “TELKOMNIKA Telecommunication, Computing, Electronics and Control
Design of a controller for wheeled mobile robots based on automatic movement sequencing,” Repository Horizon University Indonesia, accessed April 3, 2025, https://repository.horizon.ac.id/items/show/4213.
Design of a controller for wheeled mobile robots based on automatic movement sequencing,” Repository Horizon University Indonesia, accessed April 3, 2025, https://repository.horizon.ac.id/items/show/4213.