Control of Mobile Robots for Collision Avoidance Conferences

abstract

• From fully autonomous warehouses to farms lacking labour; the presence of mobile robots has increased significantly. These mobile robots are commonly found in the industrial sector, where they are typically used in automating tasks. While traversing through work environments, these mobile robots must be capable of avoiding and efficiently circumnavigating both moving and stationary obstacles. To help mitigate these issues, control engineering methods are usually utilized. In this paper, we analyze two different types of mobile robots, namely holonomic and non-holonomic robots. In addition, we utilize three different control methods, namely, model predictive control (MPC), nonlinear model predictive control (NMPC), and virtual force method (VFM). Conclusively, we perform a comparative analysis of all three control methods using a variety of quantitative metrics.

authors

• Alsadi, Naseem
• Bone, Gary Mitchell
• Gadsden, Stephen
• AlShabi, Mohammad

status

• published 

publication date

• February 20, 2023

published in

• 2023 Advances in Science and Engineering Technology International Conferences (ASET)  Journal

presented at event

• 2023 Advances in Science and Engineering Technology International Conferences (ASET)  Conference

keywords

• 40 Engineering
• 4007 Control Engineering, Mechatronics and Robotics
• 4010 Engineering Practice and Education
• 46 Information and Computing Sciences
• 4602 Artificial Intelligence
• 4605 Data Management and Data Science

Digital Object Identifier (DOI)

• 10.1109/aset56582.2023.10180627

start page

• 1

end page

• 9

volume

• 00