FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3213022063> ?p ?o ?g. }

• W3213022063 endingPage "555" @default.
• W3213022063 startingPage "533" @default.
• W3213022063 abstract "This research article presents a novel solution of controller design for the autonomous path-following maneuver of a nonholonomic wheeled mobile robotic (WMR) system subjected to static and dynamic obstacles. Currently, autonomously operated nonholonomic vehicles, capable of completing tasks avoiding collisions, are deployed for low-profile household applications to sophisticated space missions. The geometrically constrained path-following controller with embedded intelligence for collision avoidance is designed based on a twofold hybrid control law. The hybrid control law combines the feedback linearization controller (FBC) with the fuzzy logic controller (FLC). The feedback linearization controller helps the mobile robot to remain on its desired path, while the fuzzy logic controller helps the mobile robot to avoid critical obstacles around the reference path. It is analytically proven that the proposed hybrid control law converges the robot asymptotically to the desired path when it is safely away from obstacles. Further, when the robot detects an obstacle in its sensing range, obstacle avoidance control law acts locally and it deviates itself from the desired path to avoid collision assuring stability through a bounded tracking control law. Considering bounded sensor measurement uncertainties during obstacle detection, it is observed that the fuzzy logic-based collision-avoidance algorithm behaves in a robust manner. The hybrid controller is designed and tested in a simulated environment with the real-life parameters of a nonholonomic wheeled mobile robot. The robot is capable of traversing through the geometrically constrained desired paths avoiding obstacles in an improved manner compared to the existing method. Moreover, the robot is also capable of returning back to its original path when obstacles are safely away. The performance of the novel hybrid control strategy is illustrated for several geometrically constrained paths via simulation to show its effectiveness in terms of fulfilling dual objectives of path following and simultaneous collision avoidance in an improved manner." @default.
• W3213022063 created "2021-11-22" @default.
• W3213022063 creator A5033051546 @default.
• W3213022063 creator A5041548235 @default.
• W3213022063 creator A5064084305 @default.
• W3213022063 creator A5067349819 @default.
• W3213022063 date "2022-03-01" @default.
• W3213022063 modified "2023-10-12" @default.
• W3213022063 title "Intelligent controller for nonholonomic wheeled mobile robot: A fuzzy path following combination" @default.
• W3213022063 cites W1872768694 @default.
• W3213022063 cites W1967394491 @default.
• W3213022063 cites W2021721710 @default.
• W3213022063 cites W2023218087 @default.
• W3213022063 cites W2024509485 @default.
• W3213022063 cites W2036101221 @default.
• W3213022063 cites W2046549228 @default.
• W3213022063 cites W2054908067 @default.
• W3213022063 cites W2088230758 @default.
• W3213022063 cites W2088363200 @default.
• W3213022063 cites W2101116544 @default.
• W3213022063 cites W2113130566 @default.
• W3213022063 cites W2117135317 @default.
• W3213022063 cites W2120944681 @default.
• W3213022063 cites W2122126708 @default.
• W3213022063 cites W2125427795 @default.
• W3213022063 cites W2127516259 @default.
• W3213022063 cites W2129350414 @default.
• W3213022063 cites W2161532993 @default.
• W3213022063 cites W224032273 @default.
• W3213022063 cites W2298546714 @default.
• W3213022063 cites W2513016052 @default.
• W3213022063 cites W2748897120 @default.
• W3213022063 cites W2792338883 @default.
• W3213022063 cites W2967565127 @default.
• W3213022063 cites W2976336400 @default.
• W3213022063 cites W2999338564 @default.
• W3213022063 cites W3024286124 @default.
• W3213022063 cites W3044996678 @default.
• W3213022063 cites W3081674069 @default.
• W3213022063 cites W2903171715 @default.
• W3213022063 doi "https://doi.org/10.1016/j.matcom.2021.10.028" @default.
• W3213022063 hasPublicationYear "2022" @default.
• W3213022063 type Work @default.
• W3213022063 sameAs 3213022063 @default.
• W3213022063 citedByCount "14" @default.
• W3213022063 countsByYear W32130220632022 @default.
• W3213022063 countsByYear W32130220632023 @default.
• W3213022063 crossrefType "journal-article" @default.
• W3213022063 hasAuthorship W3213022063A5033051546 @default.
• W3213022063 hasAuthorship W3213022063A5041548235 @default.
• W3213022063 hasAuthorship W3213022063A5064084305 @default.
• W3213022063 hasAuthorship W3213022063A5067349819 @default.
• W3213022063 hasConcept C127413603 @default.
• W3213022063 hasConcept C133731056 @default.
• W3213022063 hasConcept C138632511 @default.
• W3213022063 hasConcept C154945302 @default.
• W3213022063 hasConcept C195975749 @default.
• W3213022063 hasConcept C19966478 @default.
• W3213022063 hasConcept C203479927 @default.
• W3213022063 hasConcept C2775924081 @default.
• W3213022063 hasConcept C2777964439 @default.
• W3213022063 hasConcept C41008148 @default.
• W3213022063 hasConcept C47446073 @default.
• W3213022063 hasConcept C58166 @default.
• W3213022063 hasConcept C6557445 @default.
• W3213022063 hasConcept C6683253 @default.
• W3213022063 hasConcept C86803240 @default.
• W3213022063 hasConcept C90509273 @default.
• W3213022063 hasConceptScore W3213022063C127413603 @default.
• W3213022063 hasConceptScore W3213022063C133731056 @default.
• W3213022063 hasConceptScore W3213022063C138632511 @default.
• W3213022063 hasConceptScore W3213022063C154945302 @default.
• W3213022063 hasConceptScore W3213022063C195975749 @default.
• W3213022063 hasConceptScore W3213022063C19966478 @default.
• W3213022063 hasConceptScore W3213022063C203479927 @default.
• W3213022063 hasConceptScore W3213022063C2775924081 @default.
• W3213022063 hasConceptScore W3213022063C2777964439 @default.
• W3213022063 hasConceptScore W3213022063C41008148 @default.
• W3213022063 hasConceptScore W3213022063C47446073 @default.
• W3213022063 hasConceptScore W3213022063C58166 @default.
• W3213022063 hasConceptScore W3213022063C6557445 @default.
• W3213022063 hasConceptScore W3213022063C6683253 @default.
• W3213022063 hasConceptScore W3213022063C86803240 @default.
• W3213022063 hasConceptScore W3213022063C90509273 @default.
• W3213022063 hasFunder F4320320721 @default.
• W3213022063 hasLocation W32130220631 @default.
• W3213022063 hasOpenAccess W3213022063 @default.
• W3213022063 hasPrimaryLocation W32130220631 @default.
• W3213022063 hasRelatedWork W2011425414 @default.
• W3213022063 hasRelatedWork W2061949197 @default.
• W3213022063 hasRelatedWork W2073130606 @default.
• W3213022063 hasRelatedWork W2096188208 @default.
• W3213022063 hasRelatedWork W2102029687 @default.
• W3213022063 hasRelatedWork W2126785114 @default.
• W3213022063 hasRelatedWork W2131454054 @default.
• W3213022063 hasRelatedWork W2787465539 @default.
• W3213022063 hasRelatedWork W3048645891 @default.
• W3213022063 hasRelatedWork W4322763851 @default.

• next