MODELING AND OPTIMAL TRAJECTORY TRACKING CONTROL OF WHEELED A MOBILE ROBOT

Authors : Tayfun Abut, Mesut Huseyinoğlu

Pages : 137-146

View : 19 | Download : 6

Publication Date : 2019-12-27

Article Type : Research

Abstract :Mobile robots have an unlimited workspace, unlike conventional fixed to the robot. Therefore, they are frequently studied from past to present. In this study, it is aimed to model wheeled a mobile robot(WMR) and realize optimal trajectory tracking control. The mathematical model of the robot was obtained. The Linear Quadratic Regulator (LQR) method, one of the optimum control methods for controlling the robot has been proposed. The Q and R parameters affecting the performance of the proposed control method were obtained by using the Firefly optimization algorithm. Both process noise and measurement noise have been added to control the robot in conditions close to the actual ambient conditions. As a result, in order to demonstrate the validity of the obtained model and the proposed control method, the robot was performed control in the simulation environment. The obtained results were given graphically and the results were examined.
Keywords : Wheeled Mobile Robot(WMR), Mathematic Model, Optimal Trajectory Tracking, Lineer Quadratic Regulator(LQR), Firefly Algorithm