Implementation of motion planning and active force control to a virtual wheeled mobile robot

The research focuses on the development of a virtual wheeled mobile robot (WMR) simulator that integrates the essential aspects of motion planning, motion control and virtual reality (VR) technique. The developed simulator may serve as a virtual testbed for the repetitive experimentation of the prop...

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Main Author:	Tang, Howe Hing
Format:	Thesis
Language:	English
Published:	2004
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/5067/1/TanghoweHingMFKM2004.pdf
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id	my-utm-ep.5067
record_format	uketd_dc
spelling	my-utm-ep.50672018-02-28T06:52:53Z Implementation of motion planning and active force control to a virtual wheeled mobile robot 2004-07 Tang, Howe Hing TJ Mechanical engineering and machinery The research focuses on the development of a virtual wheeled mobile robot (WMR) simulator that integrates the essential aspects of motion planning, motion control and virtual reality (VR) technique. The developed simulator may serve as a virtual testbed for the repetitive experimentation of the proposed mobile robot control scheme within a specified workspace or layout. The motion path planning is based on the A*heuristic search algorithm with a specific reference to the sixelementary jumps graph for the generation of a nonholonomic global collision-free path environment. A robust active force control (AFC) strategy is incorporated as the WMR motion controller that can accommodate effective disturbance compensation control action in order to produce accurate trajectory tracking task even in the wake of the modelled disturbances. A trajectory planner has been deliberately introduced as the interface between the motion planner and the motion controller. Later, a VR technique is applied to create the virtual environment (VE) that effectively integrates the main elements and transforms the system into a virtual WMR simulator with the added features that will enable researcher to perform experimentation of the mobile robot. A case study is furnished in the research study taking into account a computer integrated manufacturing (CIM) layout in which the proposed mobile robot is supposed to navigate. A rigorous simulation study is performed to demonstrate the effectiveness of the proposed system. Results clearly indicate the successful realization as well as implementation of the developed virtual WMR simulator in which the WMR has been conclusively shown to be very stable, robust and accurate in its tracking ability. 2004-07 Thesis http://eprints.utm.my/id/eprint/5067/ http://eprints.utm.my/id/eprint/5067/1/TanghoweHingMFKM2004.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Mechanical Engineering Faculty of Mechanical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Tang, Howe Hing Implementation of motion planning and active force control to a virtual wheeled mobile robot
description	The research focuses on the development of a virtual wheeled mobile robot (WMR) simulator that integrates the essential aspects of motion planning, motion control and virtual reality (VR) technique. The developed simulator may serve as a virtual testbed for the repetitive experimentation of the proposed mobile robot control scheme within a specified workspace or layout. The motion path planning is based on the A*heuristic search algorithm with a specific reference to the sixelementary jumps graph for the generation of a nonholonomic global collision-free path environment. A robust active force control (AFC) strategy is incorporated as the WMR motion controller that can accommodate effective disturbance compensation control action in order to produce accurate trajectory tracking task even in the wake of the modelled disturbances. A trajectory planner has been deliberately introduced as the interface between the motion planner and the motion controller. Later, a VR technique is applied to create the virtual environment (VE) that effectively integrates the main elements and transforms the system into a virtual WMR simulator with the added features that will enable researcher to perform experimentation of the mobile robot. A case study is furnished in the research study taking into account a computer integrated manufacturing (CIM) layout in which the proposed mobile robot is supposed to navigate. A rigorous simulation study is performed to demonstrate the effectiveness of the proposed system. Results clearly indicate the successful realization as well as implementation of the developed virtual WMR simulator in which the WMR has been conclusively shown to be very stable, robust and accurate in its tracking ability.
format	Thesis
qualification_level	Master's degree
author	Tang, Howe Hing
author_facet	Tang, Howe Hing
author_sort	Tang, Howe Hing
title	Implementation of motion planning and active force control to a virtual wheeled mobile robot
title_short	Implementation of motion planning and active force control to a virtual wheeled mobile robot
title_full	Implementation of motion planning and active force control to a virtual wheeled mobile robot
title_fullStr	Implementation of motion planning and active force control to a virtual wheeled mobile robot
title_full_unstemmed	Implementation of motion planning and active force control to a virtual wheeled mobile robot
title_sort	implementation of motion planning and active force control to a virtual wheeled mobile robot
granting_institution	Universiti Teknologi Malaysia, Faculty of Mechanical Engineering
granting_department	Faculty of Mechanical Engineering
publishDate	2004
url	http://eprints.utm.my/id/eprint/5067/1/TanghoweHingMFKM2004.pdf
_version_	1747814561492238336

Implementation of motion planning and active force control to a virtual wheeled mobile robot

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