MODELING AND OPTIMAL TRAJECTORY TRACKING CONTROL OF WHEELED A MOBILE ROBOT

Yıl 2019, Cilt: 6 Sayı: 2, 137 - 146, 27.12.2019

Tayfun Abut , Mesut Huseyinoğlu

Öz

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.

Anahtar Kelimeler

Wheeled Mobile Robot(WMR), Mathematic Model, Optimal Trajectory Tracking, Lineer Quadratic Regulator(LQR), Firefly Algorithm

Kaynakça

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