UKF-based enhancement and ROS implementation of 4-WDDMR localization with advanced control system

This article exhibits integration of nonholonomic four-wheeled differential drive mobile robot platform (4-WDDMR) implemented using an Arduino Mega 2560 microcontroller and robot operating system. Particularly, estimating the current situation of the robot navigation system is complex thanks to unce...

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Bibliographic Details
Published in:Cogent engineering 2018-01, Vol.5 (1), p.1481561
Main Authors: Joukhadar, Abdulkader, Kass Hanna, Dalia
Format: Article
Language:English
Subjects:
4-WDDMR
Actuators
Algorithms
Computer simulation
Control stability
Control systems
Kalman filters
localization
Microcontrollers
Navigation systems
Robotics
Robots
ROS
stability
system uncertainty
UKF
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Summary:This article exhibits integration of nonholonomic four-wheeled differential drive mobile robot platform (4-WDDMR) implemented using an Arduino Mega 2560 microcontroller and robot operating system. Particularly, estimating the current situation of the robot navigation system is complex thanks to uncertainty exerted by the robot incorporated with actuators complexities and nonlinearities. An efficient and accurate estimation technique which applies probabilistic algorithm based Unscented Kalman Filter is proposed. The stability of 4-WDDMR Control-Navigation system has been tested and improved based on Lyapunov criterion. The proposed techniques are implemented and evaluated using MATLAB/SIMULINK®. Both practical and simulation results demonstrate the vitality of the proposed Control-Navigation approach. It is believed that the proposed approaches will help to build an autonomous robotics system that can assist humans with their works in daily life basis.
ISSN:2331-1916
2331-1916
DOI:10.1080/23311916.2018.1481561