Modelling and control of a nonholonomic mobile robot

Mobile robots are becoming more common in today's fast growing environment. Its extensive study and research have become a major part in the mobile robot's rapid development. An effective method of development is via modelling tools and computerized simulations. In this project, kinematic...

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Main Author:	Baharuddin, Mohd. Zafri
Format:	Thesis
Language:	English
Published:	2008
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/9660/1/MohdZafriBaharuddinMFKE2008.pdf
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id	my-utm-ep.9660
record_format	uketd_dc
spelling	my-utm-ep.96602018-07-19T01:53:16Z Modelling and control of a nonholonomic mobile robot 2008-05 Baharuddin, Mohd. Zafri TK Electrical engineering. Electronics Nuclear engineering Mobile robots are becoming more common in today's fast growing environment. Its extensive study and research have become a major part in the mobile robot's rapid development. An effective method of development is via modelling tools and computerized simulations. In this project, kinematic and dynamic models of a nonholonomic two-wheeled mobile robot were simulated with its behaviour defined by a controller. The robot defined in this project has two actuated wheels while any other contact with the surface travelled is assumed to be frictionless. This project identifies two robot controllers, which are the proportionalintegral- derivative (PID) control and pole placement methods. These control methods are implemented via the MATLAB/Simulink software into the kinematic and dynamic models of the robot. Controllers were chosen according to its robot model that conforms to the standard robot designed in this project. The tracking control method of each controller was also studied to ensure stability of the model. In the simulation, the robot is given several predetermined paths. The robot does not know these paths and it has to be able to adapt and react to different paths. The controller is considered successful when it can follow the predetermined path accordingly and effectively. Through the simulations, these controllers are studied and compared. 2008-05 Thesis http://eprints.utm.my/id/eprint/9660/ http://eprints.utm.my/id/eprint/9660/1/MohdZafriBaharuddinMFKE2008.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Baharuddin, Mohd. Zafri Modelling and control of a nonholonomic mobile robot
description	Mobile robots are becoming more common in today's fast growing environment. Its extensive study and research have become a major part in the mobile robot's rapid development. An effective method of development is via modelling tools and computerized simulations. In this project, kinematic and dynamic models of a nonholonomic two-wheeled mobile robot were simulated with its behaviour defined by a controller. The robot defined in this project has two actuated wheels while any other contact with the surface travelled is assumed to be frictionless. This project identifies two robot controllers, which are the proportionalintegral- derivative (PID) control and pole placement methods. These control methods are implemented via the MATLAB/Simulink software into the kinematic and dynamic models of the robot. Controllers were chosen according to its robot model that conforms to the standard robot designed in this project. The tracking control method of each controller was also studied to ensure stability of the model. In the simulation, the robot is given several predetermined paths. The robot does not know these paths and it has to be able to adapt and react to different paths. The controller is considered successful when it can follow the predetermined path accordingly and effectively. Through the simulations, these controllers are studied and compared.
format	Thesis
qualification_level	Master's degree
author	Baharuddin, Mohd. Zafri
author_facet	Baharuddin, Mohd. Zafri
author_sort	Baharuddin, Mohd. Zafri
title	Modelling and control of a nonholonomic mobile robot
title_short	Modelling and control of a nonholonomic mobile robot
title_full	Modelling and control of a nonholonomic mobile robot
title_fullStr	Modelling and control of a nonholonomic mobile robot
title_full_unstemmed	Modelling and control of a nonholonomic mobile robot
title_sort	modelling and control of a nonholonomic mobile robot
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2008
url	http://eprints.utm.my/id/eprint/9660/1/MohdZafriBaharuddinMFKE2008.pdf
_version_	1747814770763890688

Modelling and control of a nonholonomic mobile robot

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