IDEAS home Printed from https://ideas.repec.org/a/eee/chsofr/v187y2024ics096007792401021x.html
   My bibliography  Save this article

Obstacle-aware path following of omni-wheeled robots using fuzzy inference approach

Author

Listed:
  • Wu, Hsiu-Ming
  • Zaman, Muhammad Qomaruz

Abstract

This study proposes a real-time LiDAR-based approach for efficient path following in omni-wheeled robots (OWRs) capable of dynamically adapting to surrounding obstacles. To achieve this, two fuzzy control schemes are developed: Fuzzy Sliding-Mode Tracking Control (FTC) for precise path following and Fuzzy Obstacle-avoidance Control (FOC) for real-time collision avoidance using LiDAR data. FTC utilizes fuzzified sliding surfaces, derived from tracking errors, to follow a planned path. In the presence of obstacles along the path, FOC, employing LiDAR measurements, assesses collision distance and direction, ensuring safe navigation. The outputs of FTC and FOC are seamlessly merged using a smooth switching factor to generate voltage inputs for the actuators. The effectiveness of the proposed approach is demonstrated through extensive simulations and real-world experiments under various conditions, including wheel disturbances, diverse trajectories, and varying initial positions.

Suggested Citation

  • Wu, Hsiu-Ming & Zaman, Muhammad Qomaruz, 2024. "Obstacle-aware path following of omni-wheeled robots using fuzzy inference approach," Chaos, Solitons & Fractals, Elsevier, vol. 187(C).
  • Handle: RePEc:eee:chsofr:v:187:y:2024:i:c:s096007792401021x
    DOI: 10.1016/j.chaos.2024.115469
    as

    Download full text from publisher

    File URL: http://www.sciencedirect.com/science/article/pii/S096007792401021X
    Download Restriction: Full text for ScienceDirect subscribers only

    File URL: https://libkey.io/10.1016/j.chaos.2024.115469?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:eee:chsofr:v:187:y:2024:i:c:s096007792401021x. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Thayer, Thomas R. (email available below). General contact details of provider: https://www.journals.elsevier.com/chaos-solitons-and-fractals .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.