کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / هشتمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

Behavior Control and Navigation of Two-Wheeled Robot Using ROS-Gazebo

نویسندگان :

Mohammad Mahdi Moslemi¹ Majid Sadedel²

1- دانشگاه تربیت مدرس 2- دانشگاه تربیت مدرس

کلمات کلیدی :

two-wheeled robot, behavior control, mobile robot navigation, hard switch control, robot operating system

چکیده :

Nowadays, robots serve a wide range of purposes, such as rescue and service. Due to the complexity of the environment, it is critical that the robot interacts with the environment and performs its task without losing context. This article uses a two-wheeled robot whose rotational speed is independently controlled by each wheel. This causes the robot to rotate in a horizontal plane without any steering. Our navigation algorithm, based on layered architecture of robot navigation, consists of two behaviors; Go to Goal and Avoid Obstacle. A hard-switch PID controller is then developed to track reference signals based on two behaviors. Using ROS-Gazebo and Python, all simulations and algorithms are developed and programmed for robot. Finally, the navigation algorithm is validated in two different environments based on their complexity.

لیست مقالات

لیست مقالات بایگانی شده

Rejection of Sinusoidal Disturbance of Unknown Frequency in Linear Systems with Unknown Input Delay

ٍٍEhsan Shahmoradi - Mohsen Mojiri

Enhancing Cybersecurity in Nonlinear Networked Control Systems through Robust PI Controller Design and Implementation against Denial-of-Service Attacks

AmirHossein Salasi - HamidReza Chavoshi - Omid Payam - Ali Khoshlahjeh Sedgh - Hamid Khaloozadeh

کنترل سرعت و موقعیت بازوی ربات شش درجه آزادی و پایش پارامترهای آن با نمایشگر صنعتی و plc

سجاد چوپانی - مجید ساده دل - فرناز دهکردی

L1-Gain Stabilization of Uncertain Switched Positive Linear Systems with Actuator Saturation

Mohammad Ali Nojoumian - Moosa Ayati - Mohammad Reza Zakerzadeh

تشخیص حملات سایبری مخفی در ریزشبکه‌های جریان مستقیم مشارکتی براساس مدل توزیع شده

سید محمد حسینی رستمی - مهدی پورقلی - هادی اشعریون

Texture Analysis of Corn-based Snacks with Fast Fourier Transform

José-David Martínez-Velasco - Annamaría Filomena-Ambrosio - Claudia L. Garzón-Castro - Julieta Domínguez-Soberanes - Paolo Visconti - Ramiro Velázquez

Average onsensus of heterogeneous discrete-time linear multi-agent systems with balanced directed networks

Mohammad Hadi Rezaei - Ali Abooee

Comparative Analysis of Data-Driven Predictive Control Strategies

Ali Rezaei - Ali Khaki-Sedigh

Designing an Adaptive-Intelligent Controller for Quadcopter Based on Brain Emotional Learning

Kosar Safari - Amirsaeid Safari - Muhammad Mnathouri

Swing-up Control of a Double Inverted Pendulum by Combination of Q-Learning and PID Algorithms

Ahmad Zeynivand - Hoda Moodi

بیشتر

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.2.8