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A Time optimal path planning for trajectory tracking of wheeled mobile robots

Vivekananthan R., Karunamoorthy L.

Journal of Automation Mobile Robotics and Intelligent Systems

2011

Vol. 5, No. 2

35-41

Avariety of approaches for trajectory tracking control of wheeled mobile robots have been implemented. This paper presents a model for a time optimal motion control based on fuzzy logic algorithm for a three wheeled nonholonomic mobile robot with desired function. Simplified kinematic equations of a differentially driven robot are designed to follow the path with evaluated linear and angular velocities. Here, the proposed kinematic model is based on a simple geometric approach for getting the desired position and orientation. The speeds are varied depending on the variations in the path and on the posture of the robot. The robot is subjected to move in a constrained workspace. The control architecture was developed based on fuzzy logic algorithm to obtain time optimal motion control of robot trajectory tracking. The kinematic model was done on Matlab software environment and profound impact on the ability of the nonholonomic mobile robot to track the path was evaluated.

Regulator kotła stałopalnego

Szumski M.

Pomiary Automatyka Robotyka

2009

R. 13, nr 2

677-685

Praca zawiera krótki opis procesów spalania w kotle retortowym spalającym węgiel kamienny, wykonane badania kotłów oraz realizację regulatora procesu spalania. Celem pracy jest opracowanie algorytmów ekologicznego i ekonomicznego spalania węgla w kotłach retortowych. Przedstawiono realizację algorytmu Fuzzy Logic opartego na charakterystyce statycznej kotła.

The paper includes a brief description of processes occurring during burning of coal in a coal boiler, measured characteristics of such boilers and an implementation of a burn process controller. The goal is to create control algorithms ensuring ecological and economical process of burning coal in boilers with spiral feeders. Presented is an implementation of Fuzzy Logic algorithm based on static characteristics of a boiler.