0% Complete
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 Moslemi
1
Majid Sadedel
2
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
Comparing Metaheuristic Algorithms for PID Control of a DC Motor
Amir Mohammad Davatgar - Hamed Mojallali
Design of unknown input proportional-multiple fractional order integral observer for fractional order singular systems with application in fault diagnosis
Fateme Pourdadashi Komachali - Masoud Shafiee - Amir Hossein Hassanabadi
Robust Control Design for a Two-Wing MIMO Chaotic System
Alireza Azimi - Elham Amini Boroujeni
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
Load Frequency Control Using Hierarchical Type-II Fuzzy Controller optimized via Imperialist Competitive Algorithm
Mohammad Ali Labbaf Khaniki - Mohammad Manthouri - Kosar Safari
Attention and Autoencoder Hybrid Model for Unsupervised Online Anomaly Detection
Seyed Amirhossein Najafi - Mohammad Hassan Asemani - Peyman Setoodeh
D-Stability Analysis for Tuning Fractional-Order PI Controller
Mohammad Tavazoei - Mohammad Hassan Asemani
طراحی و ساخت دستگاه جداکننده با استفاده از مکانیزم مرکب و با رویکرد اتوماسیون سازی خطوط تولید
محمدرضا هاشمی - محمدهادی کلائی - علی رجبی
Fault diagnosis of photovoltaic modules using deep neural networks-VGG16
Samaneh Azimi - Mohammad Manthouri
Medium-Term Load Forecasting of Iran Khodro Company using Convolutional Neural Network (CNN) and Long Short-Term Memory (LSTM) Deep Neural Networks
Mahasta Pahlawan - Roohollah Barzamini - Seyyed Abolfazl Yasini
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.0.5