MODELING AND OPTIMAL TRAJECTORY TRACKING CONTROL OF WHEELED A MOBILE ROBOT

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dc.contributor.authorAbut, Tayfun
dc.contributor.authorHuseyinoğlu, Mesut
dc.date.accessioned2025-03-08T18:25:58Z
dc.date.available2025-03-08T18:25:58Z
dc.date.issued2019
dc.departmentDicle Üniversitesi
dc.description.abstractMobile robots have an unlimited workspace, unlike conventional fixed to the robot. Therefore, they are frequently studied from past to present. In this study, it is aimed to model wheeled a mobile robot(WMR) and realize optimal trajectory tracking control. The mathematical model of the robot was obtained. The Linear Quadratic Regulator (LQR) method, one of the optimum control methods for controlling the robot has been proposed. The Q and R parameters affecting the performance of the proposed control method were obtained by using the Firefly optimization algorithm. Both process noise and measurement noise have been added to control the robot in conditions close to the actual ambient conditions. As a result, in order to demonstrate the validity of the obtained model and the proposed control method, the robot was performed control in the simulation environment. The obtained results were given graphically and the results were examined.
dc.identifier.endpage146
dc.identifier.issn2148-6840
dc.identifier.issue2
dc.identifier.startpage137
dc.identifier.urihttps://hdl.handle.net/11468/30499
dc.identifier.volume6
dc.language.isoen
dc.publisherKafkas Üniversitesi
dc.relation.ispartofCaucasian Journal of Science
dc.relation.publicationcategoryMakale - Ulusal Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_DergiPark_21250205
dc.subjectWheeled Mobile Robot(WMR)
dc.subjectMathematic Model
dc.subjectOptimal Trajectory Tracking
dc.subjectLineer Quadratic Regulator(LQR)
dc.subjectFirefly Algorithm
dc.titleMODELING AND OPTIMAL TRAJECTORY TRACKING CONTROL OF WHEELED A MOBILE ROBOT
dc.typeArticle

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