Development of hybrid controller of wheeled robot for mine detection

Rashid, M.M. and Hussain, Mohd Azlan and Raisuddin Khan, M. (2009) Development of hybrid controller of wheeled robot for mine detection. In: 2009 International Conference on Mechanical and Electrical Technology, ICMET'09, 2009, Beijing.

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Abstract

In this work, design a hybrid control wheeled robot which is capable of detecting buried landmines and marking their localization in uneasy accessible areas, while enabling the operator to control the robot wirelessly from a distance. As a universal solution to the landmine problem is unlikely to be achieved in the short time, according to what many other researchers think, time is worth spent on trying to solve a specific aspect of the global problem, rather than treating the problem as a whole. The problem becomes even more difficult if the environment is hazardous, presents a potentially wide temperature range, and is subject to rain, dust and other natural factors. Such environments are typical for minefields. Landmines still continue to kill, injure and penalize on a daily basis mainly a civilian population. Replacing human demines or trained dogs in the mine searching task is challenging, and promises better detection capabilities. This paper presents an autonomous mine searching wheeled robot using hybrid controller.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Conference code: 82280 Export Date: 5 March 2013 Source: Scopus Language of Original Document: English Correspondence Address: Rashid, M. M.; Dept. of Mechatronics Eng., IIUM, Kualalumpur, Malaysia References: Zhu, X., Dong, G., Hu, D., Cai, Z., Robust Stabilization of Wheeled Mobile Robots Moving on Uncertain Uneven Surface (2006) Proceedings 6th International Conference on Intelligent Systems Design and Applications; Chen, C.-Y., Li, T.-H.S., Yeh, Y.-C., Chang, C.-C., Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots (2008) Mechatronics, 19, pp. 156-166. , Elsevier; Lee, C.-H., Chiu, M.-H., Recurrent neuro fuzzy control design for tracking of mobile robots via hybrid algorithm (2009) Expert Systems with Applications, 36, pp. 8993-8999; Dixon, W.E., Jiang, Z.P., Dawson, D.M., Global exponential set point control of wheeled mobile robots, a Lyapunov approach (2000) Automatica, 36, pp. 1741-1746; Adleman, L.M., Molecular computation of solutions to combinatorial problems (1994) Science, 266, pp. 1021-1023; Clerc, M., Kenney, J., The particle swarm-explosion, stability, and convergence in multi-dimensional complex space (2002) IEEE Transactions on Evolutionary Computation, 6, pp. 58-73; Horacio, M., Simon, G., Mobile robot path planning and tracking using simulated annealing and fuzzy logic control (1998) Expert Systems with Applications, 15 (3-4), pp. 421-429; Lee, C.H., Lin, Y.C., Hybrid learning algorithm for fuzzy neuro systems (2004) Fuzz-IEEE 2004, pp. 691-696; Lee, T.C., Song, K.T., Lee, C.H., Teng, C.C., Tracking control of two-wheeled mobile robots using a saturation feedback controller (2001) IEEE Transactions on Control Systems and Technology, 9 (2), pp. 305-318; Lim, T.M., Zhang, D., Control of Lorentz force-type self-bearing motors with hybrid PID and robust model reference adaptive control scheme (2008) Mechatronics, 18 (1), pp. 35-45; Sun, S., Designing approach on trajectory-tracking control of mobile robot (2005) Robot Comput-Integrated Manufact, 21 (1), pp. 81-85; Hu, Z., Li, Z., Bicker, R., Marshall, C., Robust output tracking control of nonholonomic mobile robots via higher order sliding mode (2004) Nonlinear Stud, 11 (1), pp. 23-35 Sponsors: IACSIT; Beijing Technology and Business University
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
T Technology > TP Chemical technology
Divisions: Faculty of Engineering
Depositing User: Mr Jenal S
Date Deposited: 10 Jul 2013 01:25
Last Modified: 10 Feb 2021 03:18
URI: http://eprints.um.edu.my/id/eprint/7030

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