Research and Development of Omnidirectional Mobile Robot Tracking Control Based on Artificial Intelligence

International Journal of Electronics and Communication Engineering

© 2023 by SSRG - IJECE Journal

Volume 10 Issue 3

Year of Publication : 2023

Authors : Chau Thanh Phuong

10.14445/23488549/IJECE-V10I3P103

How to Cite?

Chau Thanh Phuong, "Research and Development of Omnidirectional Mobile Robot Tracking Control Based on Artificial Intelligence," SSRG International Journal of Electronics and Communication Engineering, vol. 10,  no. 3, pp. 15-22, 2023. Crossref, https://doi.org/10.14445/23488549/IJECE-V10I3P103

Abstract:

This paper presents the research and construction of a motion tracing control system for omnidirectional mobile robots based on reinforcement learning techniques in automatic control. The process of controlling a mobile robot in a flat environment with definite and unknown obstacles, taking into account the nonlinear factor of interference. Research and application of programming tools are operating systems for mobile robots (Robot Operating System - ROS). From updated information on maps, operating environment, robot control position, and obstacle identification (SLAM) to calculate the movement trajectory of a three-wheeled omnidirectional mobile robot. The positioning system calculates the orbital tracking for the robot based on the Q-learning algorithm. The results of simulation research in the Gazebo environment and running tests on real Turtlebot mobile robots have shown the practical effectiveness of the research problem of tracking motion tracking and intelligent navigation for mobile robots.

Keywords:

Three-wheeled mobile robot, Self-propelled robot, Automatic system, ROS, Artificial intelligence, Q-learning algorithm, Reinforcement learning.

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