INFLUENCE OF CONTROL ALGORITHM ON DRIVE CONSUMPTION OF WHEELED MOBILE ROBOT
Published: 23 Sep 2021
Abstract: In field of autonomous mobile robotics, the quality of control is a crucial aspect. Besides the precision of control, the energy consumption for motion is becoming an increasingly demanding characteristic of a controller due to the increasing costs of fossil fuels and electricity. We created a simulation model of a differential drive mobile robot motion in a vineyard row including robot dynamics for evaluating motion consumption and implemented commonly used PID, fuzzy, and LQ control algorithms. Their task was to navigate the robot through the middle of the vineyard row section by measuring distances from trellises on both sides of the robot. The comparison was carried out using MATLAB software and the best results both in terms of power consumption and control accuracy were achieved by LQI controller. The designed model for navigating the robot through the centre of the vineyard row and optimized controllers will be implemented in a real robot and tested in a real scenario.
Keywords: robot control, pid control, fuzzy control, optimal control, simulation, energy consumption
Cite this article: Dušan Marko, Vladimír Madola, Dušan Hrubý, Martin Olejár. INFLUENCE OF CONTROL ALGORITHM ON DRIVE CONSUMPTION OF WHEELED MOBILE ROBOT. Journal of International Scientific Publications: Materials, Methods & Technologies 15, 284-292 (2021). https://www.scientific-publications.net/en/article/1002219/
Download full text
Back to the contents of the volume
© 2023 The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License http://creativecommons.org/licenses/by/3.0/
, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. This permission does not cover any third party copyrighted material which may appear in the work requested.