Robust Navigational Control of a Two-Wheeled Self-Balancing Robot in a Sensed Environment

被引：34

作者：

Iwendi, Celestine ^{[1
]}

Alqarni, Mohammed A. ^{[2
]}

Anajemba, Joseph Henry ^{[3
]}

Alfakeeh, Ahmed S. ^{[4
]}

Zhang, Zhiyong ^{[1
]}

Bashir, Ali Kashif ^{[5
]}

机构：

[1] BCC Cent South Univ Forestry & Technol, Dept Elect, Changsha 410004, Hunan, Peoples R China

[2] Univ Jeddah, Coll Comp Sci & Engn, Jeddah 21959, Saudi Arabia

[3] Hohai Univ, Coll Internet Things, Dept Commun Engn, Changzhou Campus, Changzhou 213000, Peoples R China

[4] King Abdulaziz Univ, Fac Comp & Informat Technol, Jeddah 21589, Saudi Arabia

[5] Manchester Metropolitan Univ, Dept Comp & Math, Manchester M13 9PL, Lancs, England

来源：

IEEE ACCESS | 2019年 / 7卷

关键词：

TWSBR; 32-bit Microcontroller; robust control; PD-PI; sensed environment; IoT; WHEELED MOBILE ROBOTS; TRACKING CONTROL;

D O I：

10.1109/ACCESS.2019.2923916

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This research presents an improved mobile inverted pendulum robot called Two-wheeled Self-balancing robot (TWSBR) using a Proportional-Derivative Proportional-Integral (PD-PI) robust control design based on 32-bit microcontroller in a sensed environment (SE). The robot keeps itself balance with two wheels and a PD-PI controller based on the Kalman filter algorithm during the navigation process and is able to stabilize while avoiding acute and dynamic obstacles in the sensed environment. The Proportional (P) control is used to implement turn control for obstacle avoidance in SE with ultrasonic waves. Finally, in a SE, the robot can communicate with any of the Internet of Things (IoT) devices (mobile phone or Personal Computer) which have a Java-based transmission application installed and through Bluetooth technology connectivity for wireless control. The simulation results prove the efficiency of the proposed PD-PI controller in path planning, and balancing challenges of the TWSBR under several environmental disturbances. This shows an improved control system as compared to the existing improved Adaptive Fuzzy Controller.

引用

页码：82337 / 82348

页数：12

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