Motion planning and control of an autonomous mobile robot

Authors

  • To Xuan Dinh*
  • Nguyen Thi Thu Huong
  • Nguyen Ngoc Tuan
  • Nguyen Thanh Tien

Abstract

The application of autonomous mobile robots (AMRs) has gradually become crucial in smart factories due to the advantages of improving production efficiency and reducing labour costs. Motion planning has been a key part of AMR control development. This paper presents motion planning and position tracking control systems of an omnidirectional wheel AMR powered by a hybrid fuel cell and battery power source. First, the kinematical and dynamic models of the AMR are introduced. The navigation system comprises three loops, with the first loop being motor control, the second loop being position tracking control, and a motion planning layer. The position data of the AMR for feedback control is obtained through sensor fusion of data from the inertial measurement unit (IMU) sensor, encoder sensor, and ranging sensor with simultaneous localisation and mapping (SLAM) algorithm. The motion planning is then applied to obtain an optimal path with the shortest distance and collision-free movement. In addition, the tracking algorithm is designed to drive the AMR to follow the optimal path and achieve high accuracy. The experimental results show a 30% improvement in tracking accuracy compared to traditional approaches and 8 hours of continuous working, which is promising for industrial applications, and the results are satisfactory in terms of both accuracy and efficiency requirements.

Keywords:

autonomous mobile robot, control algorithm, motion planning

DOI:

https://doi.org/10.31276/VJSTE.65(4).03-10

Classification number

1.3, 2.3

Author Biographies

To Xuan Dinh

Le Quy Don Technical University, 236 Hoang Quoc Viet Street, Co Nhue 1 Ward, Bac Tu Liem District, Hanoi, Vietnam

Nguyen Thi Thu Huong

Le Quy Don Technical University, 236 Hoang Quoc Viet Street, Co Nhue 1 Ward, Bac Tu Liem District, Hanoi, Vietnam

Nguyen Ngoc Tuan

Le Quy Don Technical University, 236 Hoang Quoc Viet Street, Co Nhue 1 Ward, Bac Tu Liem District, Hanoi, Vietnam

Nguyen Thanh Tien

Military Institute of Mechanical Engineering, 42 Dong Quan Street, Nghia Do Ward, Cau Giay District, Hanoi, Vietnam

Downloads

Published

2023-12-15

Received 21 June 2023; revised 14 August 2023; accepted 13 November 2023

How to Cite

To Xuan Dinh, Nguyen Thi Thu Huong, Nguyen Ngoc Tuan, & Nguyen Thanh Tien. (2023). Motion planning and control of an autonomous mobile robot. Vietnam Journal of Science, Technology and Engineering, 65(4), 3-10. https://doi.org/10.31276/VJSTE.65(4).03-10

Issue

Section

Mathematics and Computer Science