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dc.contributor.authorVacho, Lukas
dc.contributor.authorOlejar, Martin
dc.contributor.authorHruby, Dusan
dc.contributor.authorCviklovic, Vladimir
dc.contributor.authorPalkova, Zuzana
dc.contributor.authorHarnicarova, Marta
dc.contributor.authorTozan, Hakan
dc.date.accessioned2019-12-19T12:51:13Z
dc.date.available2019-12-19T12:51:13Z
dc.date.issued2019en_US
dc.identifier.citationVacho, L., Olejar, M., Hruby, D., Cviklovic, V., Palkova, Z., Harnicarova, M. ve Tozan, H. (2019). Identification of dynamics of movement of the differential mobile robotic platform controlled by fuzzy controller. Tehnicki Vjesnik, 26(6), 1642-1649. https://doi.org/10.17559/TV-20181220081543en_US
dc.identifier.issn1330-3651
dc.identifier.issn1848-6339
dc.identifier.urihttps://doi.org/10.17559/TV-20181220081543
dc.identifier.urihttps://hdl.handle.net/20.500.12511/4557
dc.description.abstractMobile robots with differential chassis are very often used because of simple construction and a smaller number of drive and sensors elements. For practical applications, it is necessary to know the kinematic and dynamic structure of the differential mobile robot. This paper deals with identification of the dynamics of the differential robotic platform, using differential kinematics. Electro-optical rpm sensors obtain required values such as speed of the driven wheels. Identification of dynamic system is used to determine the dynamic characteristics of power subsystem of developed EN 20 robot, whose control subsystem is created by single-chip microcontroller. Response of the dynamic system is monitored along with the peripheral velocity of the right and left drive wheels. Incremental encoders that work on optics principle measure the speeds of both wheels. It was necessary to calibrate the sensors and obtain constants for precise speed determination. The monitored system with the dumped oscillation characteristic is approximated by a system with the inertia of the 2nd order. Dynamic system parameters are found. The system approximation is suitable for given evolution of circumferential speeds of the right and left wheels. This is confirmed by the quantitative determination coefficients R-2. The equations for calculating peripheral velocities of driving wheels are applied to the system of the differential equations for the differential chassis. A mathematical model of the mobile robot EN20 was obtained for testing control algorithms, where a robot is equipped with sensory systems and it is designed for interior conditions. Fuzzy controller with 49 interference rules is used to control the mobile robot. The real mobile robot path matches the path determined according to simulation model.en_US
dc.description.sponsorshipVEGA, The Ministry of Education, Science, Research and Sport of the Slovak Republicen_US
dc.language.isoengen_US
dc.publisherUniv Osijek, Tech Facen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectDynamic Systemen_US
dc.subjectFuzzy Controlleren_US
dc.subjectIncremental Sensoren_US
dc.subjectModellingen_US
dc.subjectMobile Roboten_US
dc.titleIdentification of dynamics of movement of the differential mobile robotic platform controlled by fuzzy controlleren_US
dc.typearticleen_US
dc.relation.journalTehnicki Vjesniken_US
dc.departmentİstanbul Medipol Üniversitesi, Mühendislik ve Doğa Bilimleri Fakültesi, Endüstri Mühendisliği Bölümüen_US
dc.identifier.volume26en_US
dc.identifier.issue6en_US
dc.identifier.startpage1642en_US
dc.identifier.endpage1649en_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.17559/TV-20181220081543en_US


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