MOBILE ROBOT MOTION CONTROL BASED ON CHAOTIC TRAJECTORY GENERATION

Authors

  • Ammar Ibrahim Majeed Electrical Engineering Department, Mustansiriyah University, Baghdad, Iraq Author

DOI:

https://doi.org/10.31272/jeasd.24.4.6

Keywords:

wheeled mobile robot, terrain coverage, motion control, microcontroller, chaos

Abstract

This paper introduces chaotic motion control of autonomous differential drive wheeled mobile robot to cover a certain surrounded area completely and as fast as possible. The suggested method was based on utilization of chaotic logistic map to accomplish a complete coverage of entire area. The trajectory is created by a microcontroller and fed to the designed robot using the proposed chaotic trajectory generator. The designed robot was occupied with infrared sensors to avoid the unforeseen obstacles during the navigation. The mathematical model of the designed robot and the motion control strategy were described in details. Computer simulation tests as well as the practical tests by using the designed robot show satisfactory results and confirm the success of the proposed method.

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Key Dates

Published

2020-07-01

Issue

Vol. 24 No. 4 (2020): Journal of Engineering and Sustainable Development

Section

Articles

License

Creative Commons License

This work is licensed under a Creative Commons Attribution 4.0 International License.

The Journal of Engineering and Sustainable Development is an open-access journal that all contents are free of charge. Articles of this journal are licensed under the terms of the Creative Commons Attribution International Public License CC-BY 4.0 (https://creativecommons.org/licenses/by/4.0/legalcode) that licensees are unrestrictly allowed to search, download, share, distribute, print, or link to the full texts of the articles, crawl them for indexing and reproduce any medium of the articles provided that they give the author(s) proper credits (citation). The journal allows the author(s) to retain the copyright of their published article.
Creative Commons-Attribution (BY)

How to Cite

Ibrahim Majeed, A. . (2020). MOBILE ROBOT MOTION CONTROL BASED ON CHAOTIC TRAJECTORY GENERATION. Journal of Engineering and Sustainable Development, 24(4), 48-55. https://doi.org/10.31272/jeasd.24.4.6

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