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dc.contributor.authorRudzuan, Mohd Nor
dc.contributor.authorHazry, Desa
dc.contributor.authorMohd Sofian, Muhammad Rosbi
dc.contributor.authorNagarajan, R.
dc.date.accessioned2009-11-17T08:20:51Z
dc.date.available2009-11-17T08:20:51Z
dc.date.issued2009-10-11
dc.identifier.citationp.3A2 1 - 3A2 4en_US
dc.identifier.urihttp://dspace.unimap.edu.my/123456789/7314
dc.descriptionOrganized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia.en_US
dc.description.abstractIn this paper, we present the first stage of developing mobile robot for use in a study of mobile robot navigation and its stability. Three basic navigation problems for Nonholonomic mobile robot are tracking a reference trajectory, path following and desire posture stabilization. In this study, we will focus on the trajectory tracking which means tracking reference trajectories predefined or given by path planners. The kinematics controller is usually applied to control the robot position and motion path. It is assumed that masses as well as inertias of the robot and wheels are negligible. Therefore the stability and robustness of the wheeled mobile robot cannot be analyzed. Furthermore, in many research and developments of mobile robot in trajectory tracking stability, one of the problems faced by the researches was sudden increase in motor speed (also known as speed jump or velocity jump) during the first few moments of motor’s rotation which results in the tracking error occurred during the trajectory. Above drawbacks can be overcome by including a dynamic modeling in the motion controller.en_US
dc.description.sponsorshipTechnical sponsored by IEEE Malaysia Sectionen_US
dc.language.isoenen_US
dc.publisherUniversiti Malaysia Perlisen_US
dc.relation.ispartofseriesProceedings of the International Conference on Man-Machine Systems (ICoMMS 2009)en_US
dc.subjectMobile robotsen_US
dc.subjectRoboticsen_US
dc.subjectRobots -- Design and constructionen_US
dc.subjectRobots -- Control systemsen_US
dc.subjectNonholonomic dynamical systemsen_US
dc.titleDeveloping an autonomous mobile robot and a study of navigation towards nonholonomic problemsen_US
dc.typeWorking Paperen_US


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