Ros-based mobile robot pid and mpc control

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dc.contributor.authorChiang, PL
dc.contributor.authorWu, YC
dc.contributor.authorCHEN, SC
dc.contributor.authorYang, CY
dc.contributor.editorPiyatilake, ITS
dc.contributor.editorThalagala, PD
dc.contributor.editorGanegoda, GU
dc.contributor.editorThanuja, ALARR
dc.contributor.editorDharmarathna, P
dc.date.accessioned2024-02-05T12:35:12Z
dc.date.available2024-02-05T12:35:12Z
dc.date.issued2023-12-07
dc.description.abstractIn this study, a Robot Operating System (ROS) based Mecanum-wheeled mobile robot is designed for two algorithms developed scheme, one is a Proportional-Integral- Derivative (PID) control algorithm directly implemented into the online controller firmware, and the other hand is a Model Predictive Control (MPC) algorithm implemented on an independent PC for a remote control. In the PID control algorithm, ultrasonic distance detection is used to keep the vehicle running parallelly along a wall. In the MPC algorithm, the vehicle is able to run according to planned paths and create the map by Lidar SLAM. In the paper, the real implementation of the system is detailed practical experiment validations.en_US
dc.identifier.conference8th International Conference in Information Technology Research 2023en_US
dc.identifier.departmentInformation Technology Research Unit, Faculty of Information Technology, University of Moratuwa.en_US
dc.identifier.emailray890401@gmail.comen_US
dc.identifier.emailycwu@nuu.edu.twen_US
dc.identifier.emailooxx123456tw@gmail.comen_US
dc.identifier.emailcyyang@mail.ntpu.edu.twen_US
dc.identifier.facultyITen_US
dc.identifier.pgnospp. 1-6en_US
dc.identifier.placeMoratuwa, Sri Lankaen_US
dc.identifier.proceedingProceedings of the 8th International Conference in Information Technology Research 2023en_US
dc.identifier.urihttp://dl.lib.uom.lk/handle/123/22161
dc.identifier.year2023en_US
dc.language.isoenen_US
dc.publisherInformation Technology Research Unit, Faculty of Information Technology, University of Moratuwa.en_US
dc.subjectRobot operating systemen_US
dc.subjectMecanum wheelen_US
dc.subjectLidaren_US
dc.subjectPID controlen_US
dc.subjectModel predictive Controlen_US
dc.titleRos-based mobile robot pid and mpc controlen_US
dc.typeConference-Full-texten_US

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