INFLUENCE OF CONTROL ALGORITHM ON DRIVE CONSUMPTION OF WHEELED MOBILE ROBOT
Dušan Marko, Vladimír Madola, Dušan Hrubý, Martin Olejár
Pages: 284-292
Published: 23 Sep 2021
Views: 443
Downloads: 61
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/
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