A Novel Control-Navigation System- Based Adaptive Optimal Controller & EKF Localization of DDMR
Journal Title: International Journal of Advanced Research in Artificial Intelligence(IJARAI) - Year 2015, Vol 4, Issue 5
Abstract
This paper presents a newly developed approach for Differential Drive Mobile Robot (DDMR). The main goal is to provide a high dynamic system response in the joint space level, the low level control, as well as to enhance the DDMR localization. The proposed approach depends on a Linear Quadratic Regulator (LQR) for the low level control and an Adaptive LQR for the high level control. The investigated DDMR is considered highly nonlinear system due to uncertainty exhibited by the mobile robot incorporated with actuators nonlinearity. DDMR’s uncertainty leads to erroneous localization. An Extended Kalman Filter (EKF) -based approach with fusion sensors is used to enhance the robot degree of belief for its posture. Intensive simulation results obtained from the developed uncertain model and the proposed approach have shown very good dynamic performance on the low level control and very good convergence to the desired posture of the mobile robot path with the presence of robot uncertainty.
Authors and Affiliations
Dalia Hanna, Abdulkader Joukhadar
Keywords
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- EP ID EP142826
- DOI 10.14569/IJARAI.2015.040504
- Views 127
- Downloads 0
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