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Developing an autonomous mobile robot and a study of navigation towards nonholonomic problems

Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia.

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Bibliographic Details
Main Authors: Rudzuan, Mohd Nor, Hazry, Desa, Mohd Sofian, Muhammad Rosbi, Nagarajan, R.
Format: Working Paper
Language:English
Published: Universiti Malaysia Perlis 2009
Subjects:
Mobile robots
Robotics
Robots > Design and construction
Robots > Control systems
Nonholonomic dynamical systems
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/7314
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spelling my.unimap-73142010-01-21T01:35:42Z Developing an autonomous mobile robot and a study of navigation towards nonholonomic problems Rudzuan, Mohd Nor Hazry, Desa Mohd Sofian, Muhammad Rosbi Nagarajan, R. Mobile robots Robotics Robots -- Design and construction Robots -- Control systems Nonholonomic dynamical systems Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia. In this paper, we present the first stage of developing mobile robot for use in a study of mobile robot navigation and its stability. Three basic navigation problems for Nonholonomic mobile robot are tracking a reference trajectory, path following and desire posture stabilization. In this study, we will focus on the trajectory tracking which means tracking reference trajectories predefined or given by path planners. The kinematics controller is usually applied to control the robot position and motion path. It is assumed that masses as well as inertias of the robot and wheels are negligible. Therefore the stability and robustness of the wheeled mobile robot cannot be analyzed. Furthermore, in many research and developments of mobile robot in trajectory tracking stability, one of the problems faced by the researches was sudden increase in motor speed (also known as speed jump or velocity jump) during the first few moments of motor’s rotation which results in the tracking error occurred during the trajectory. Above drawbacks can be overcome by including a dynamic modeling in the motion controller. 2009-11-17T08:20:51Z 2009-11-17T08:20:51Z 2009-10-11 Working Paper p.3A2 1 - 3A2 4 http://hdl.handle.net/123456789/7314 en Proceedings of the International Conference on Man-Machine Systems (ICoMMS 2009) Universiti Malaysia Perlis
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Mobile robots
Robotics
Robots -- Design and construction
Robots -- Control systems
Nonholonomic dynamical systems
spellingShingle Mobile robots
Robotics
Robots -- Design and construction
Robots -- Control systems
Nonholonomic dynamical systems
Rudzuan, Mohd Nor
Hazry, Desa
Mohd Sofian, Muhammad Rosbi
Nagarajan, R.
Developing an autonomous mobile robot and a study of navigation towards nonholonomic problems
description Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia.
format Working Paper
author Rudzuan, Mohd Nor
Hazry, Desa
Mohd Sofian, Muhammad Rosbi
Nagarajan, R.
author_facet Rudzuan, Mohd Nor
Hazry, Desa
Mohd Sofian, Muhammad Rosbi
Nagarajan, R.
author_sort Rudzuan, Mohd Nor
title Developing an autonomous mobile robot and a study of navigation towards nonholonomic problems
title_short Developing an autonomous mobile robot and a study of navigation towards nonholonomic problems
title_full Developing an autonomous mobile robot and a study of navigation towards nonholonomic problems
title_fullStr Developing an autonomous mobile robot and a study of navigation towards nonholonomic problems
title_full_unstemmed Developing an autonomous mobile robot and a study of navigation towards nonholonomic problems
title_sort developing an autonomous mobile robot and a study of navigation towards nonholonomic problems
publisher Universiti Malaysia Perlis
publishDate 2009
url http://dspace.unimap.edu.my/xmlui/handle/123456789/7314
_version_ 1643788756032946176
score 13.18916

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