Dynamic Modelling and Adaptive Traction Control for Mobile Robots

Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control techniques for robot motion and path planning. A large number of researchers have used kinematic models to develop motion control strategy for mobile robots. Their argument and assumption that these models are valid if the robot has low speed, low acceleration and light load. However, dynamic modelling of mobile robots is very important as they are designed to travel at higher speed and perform heavy duty work. This paper presents and discusses a new approach to develop a dynamic model and control strategy for wheeled mobile robot which I modelled as a rigid body that roles on two wheels and a castor. The motion control strategy consists of two levels. The first level is dealing with the dynamic of the system and denoted as Low level controller. The second level is developed to take care of path planning and trajectory generation

Development of a microcontroller-based control system with a hardware-in-the-loop (HIL) method for control education using MATLAB/simulink/xPC Target

This paper discusses the development of a microcontroller-based control system with hardware-inthe-loop (HIL) for enhancing the teaching of control engineering. This system consists of both hardware and software. The software tools MATLAB/Simulink/xPC Target by MathWorks, Inc and a C++ compiler are used to simulate the physical system (plant) to be controlled, while the hardware include a microcontroller as a controller and interfacing circuits to allow communication between the simulated plant and the real controller. This proposed system is inexpensive and allows students to carry out extensive experimental investigations, as well as the design, implementation, performance evaluation and comparative studies of controllers. A case study of the controller design and implementation for an active suspension system is presented to illustrate the application of the proposed system

QoS evaluation of different TCPs congestion control algorithm using NS2

The success of the current Internet relies to a large extent on cooperation between the users and network. The network signals its current state to the users by marking or dropping packets. The user then strives to maximize the sending rate without causing network congestion. To achieve this, the users implement a flow control algorithm that controls the rate at which data packets are sent into the Internet. More specifically, the Transmission Control Protocol (TCP) is used by the users to adjust the sending rate in response to changing network conditions. In this paper, we focus on the degree of fairness provided to TCP connections by comparing two packet-scheduling algorithms at the router. The first one is FIFO (First In First Out, or Drop-Tail), which is widely used in the current Internet routers because of its simplicity. The second is RED (Random Early Detection), which drops incoming packets at a certain probability

Wireless technology: current status and future directions

Wireless Technology is expected to be the dominant mode of access technology in the future. Besides voice, a new data range of services such as multimedia and high speed data are being offered for delivery over wireless network. Mobility will be seamless, realizing the concept of persons' being in contact anywhere, at any time. Throughout this paper, we review the long, interesting development of wireless communication in the past, examine the current progress in standards and technologies, and finally discuss possible trends for wireless communication solutions

Measurement and Instrumentation in Mechatronics Engineering Education

Instrumentation and measurement technology has served as the backbone of modern industry. It is very important that engineering graduate should be equipped with the comprehensive knowledge about instrumentation and measurement techniques. This will help them to cope with various industrial sectors. Industrials are eager to get highly educated engineers who can deal with their equipment easily with no extra training. Since industry is continuously upgrading with new generation equipment, it is essential that engineering students should be trained in all major groups of instrumentation including analog technology, digital technology and computer base instrumental. However, there is no any module or references include this three part. Most references are discussing the instrumentation and measurement technology in general or separately. Consequently, the proposition of work is to come up with a one module which will include all instrumentation and measurement technology syllabus specially designed for engineering student to cover the whole aspects. However, the concentration will be devoted to mechatronics engineering

Dynamic modelling and control of a wheeled mobile robot

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Dynamic Modelling and Adaptive Traction Control for Mobile Robots

Abstract: Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control techniques for robot motion and path planning. A large number of researchers have used kinematic models to develop motion control strategy for mobile robots. Their argument and assumption that these models are valid if the robot has low speed, low acceleration and light load. However, dynamic modelling of mobile robots is very important as they are designed to travel at higher speed and perform heavy duty work. This paper presents and discusses a new approach to develop a dynamic model and control strategy for wheeled mobile robot which I modelled as a rigid body that roles on two wheels and a castor. The motion control strategy consists of two levels. The first level is dealing with the dynamic of the system and denoted as ‘Low ’ level controller. The second level is developed to take care of path planning and trajectory generation