IDEAS home Printed from https://ideas.repec.org/a/eee/matcom/v193y2022icp533-555.html
   My bibliography  Save this article

Intelligent controller for nonholonomic wheeled mobile robot: A fuzzy path following combination

Author

Listed:
  • Mondal, Suman
  • Ray, Ranjit
  • N., Srinivasa Reddy
  • Nandy, Sambhunath

Abstract

This research article presents a novel solution of controller design for the autonomous path-following maneuver of a nonholonomic wheeled mobile robotic (WMR) system subjected to static and dynamic obstacles. Currently, autonomously operated nonholonomic vehicles, capable of completing tasks avoiding collisions, are deployed for low-profile household applications to sophisticated space missions. The geometrically constrained path-following controller with embedded intelligence for collision avoidance is designed based on a twofold hybrid control law. The hybrid control law combines the feedback linearization controller (FBC) with the fuzzy logic controller (FLC). The feedback linearization controller helps the mobile robot to remain on its desired path, while the fuzzy logic controller helps the mobile robot to avoid critical obstacles around the reference path. It is analytically proven that the proposed hybrid control law converges the robot asymptotically to the desired path when it is safely away from obstacles. Further, when the robot detects an obstacle in its sensing range, obstacle avoidance control law acts locally and it deviates itself from the desired path to avoid collision assuring stability through a bounded tracking control law. Considering bounded sensor measurement uncertainties during obstacle detection, it is observed that the fuzzy logic-based collision-avoidance algorithm behaves in a robust manner. The hybrid controller is designed and tested in a simulated environment with the real-life parameters of a nonholonomic wheeled mobile robot. The robot is capable of traversing through the geometrically constrained desired paths avoiding obstacles in an improved manner compared to the existing method. Moreover, the robot is also capable of returning back to its original path when obstacles are safely away. The performance of the novel hybrid control strategy is illustrated for several geometrically constrained paths via simulation to show its effectiveness in terms of fulfilling dual objectives of path following and simultaneous collision avoidance in an improved manner.

Suggested Citation

  • Mondal, Suman & Ray, Ranjit & N., Srinivasa Reddy & Nandy, Sambhunath, 2022. "Intelligent controller for nonholonomic wheeled mobile robot: A fuzzy path following combination," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 193(C), pages 533-555.
    • Handle: RePEc:eee:matcom:v:193:y:2022:i:c:p:533-555
    DOI: 10.1016/j.matcom.2021.10.028
    as

    Download full text from publisher

    File URL: http://www.sciencedirect.com/science/article/pii/S037847542100392X
    Download Restriction: Full text for ScienceDirect subscribers only
    File URL: https://libkey.io/10.1016/j.matcom.2021.10.028?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.

    References listed on IDEAS

    as
    1. Sarkar, M. & Nandy, S. & Vadali, S.R.K. & Roy, S. & Shome, S.N., 2016. "Modelling and simulation of a robust energy efficient AUV controller," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 121(C), pages 34-47.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Guoxin Hua & Fei Wang & Jianhui Zhang & Khalid A. Alattas & Ardashir Mohammadzadeh & Mai The Vu, 2022. "A New Type-3 Fuzzy Predictive Approach for Mobile Robots," Mathematics, MDPI, vol. 10(17), pages 1-16, September.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Chen, Xianzhi & Lu, Yunfei & Zhou, Songlin & Chen, Weixing, 2024. "Design, modeling and performance analysis of a deformable double-float wave energy converter for AUVs," Energy, Elsevier, vol. 292(C).

    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:matcom:v:193:y:2022:i:c:p:533-555. 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.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with 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: Catherine Liu (email available below). General contact details of provider: http://www.journals.elsevier.com/mathematics-and-computers-in-simulation/ .

    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.