Three-Tiered Controller for Obstacle Avoidance in a PV Panel-Powered Wheeled Mobile Robot: Considering Actuators and Power Electronics Stages
This research addresses the obstacle avoidance problem in wheeled mobile robots powered by renewable energy by considering all subsystems involved. A three-tier hierarchical controller is developed, integrating the technique of artificial potential fields. The proposed controller incorporates the dy...
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IEEE
2024-01-01
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| Online Access: | https://ieeexplore.ieee.org/document/10793056/ |
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| author | Erik Reyes-Reyes Benjamin Natanael Santiago-Nogales Ramon Silva-Ortigoza Magdalena Marciano-Melchor Jose Rafael Garcia-Sanchez Angel Adrian Orta-Quintana Gilberto Silva-Ortigoza Hind Taud Miguel Hernandez-Bolanos |
| author_facet | Erik Reyes-Reyes Benjamin Natanael Santiago-Nogales Ramon Silva-Ortigoza Magdalena Marciano-Melchor Jose Rafael Garcia-Sanchez Angel Adrian Orta-Quintana Gilberto Silva-Ortigoza Hind Taud Miguel Hernandez-Bolanos |
| author_sort | Erik Reyes-Reyes |
| collection | DOAJ |
| description | This research addresses the obstacle avoidance problem in wheeled mobile robots powered by renewable energy by considering all subsystems involved. A three-tier hierarchical controller is developed, integrating the technique of artificial potential fields. The proposed controller incorporates the dynamics of the three key subsystems typically found in a wheeled mobile robot: The mechanical structure, actuators, and power electronics. At the highest tier, input-output linearization is combined with artificial potential fields. The medium tier employs two controllers based on differential flatness theory, while the lowest tier incorporates sliding mode control and proportional-integral control. The effectiveness of the control strategy is experimentally validated using a differential drive-type wheeled mobile robot prototype, leveraging the TDK-Lambda G100-17 as a renewable energy emulator, along with the DS1104 board and Matlab-Simulink software. Experiments were conducted under two scenarios: a) the emulation of a commercial photovoltaic panel to simulate realistic operating conditions and b) the application of time-varying input voltages to replicate dynamic power source variations. The experimental results demonstrate the robustness of the proposed controller against sudden changes in system parameters, confirming its reliability and effectiveness. |
| format | Article |
| id | doaj-art-1123e221472341bcbeadd4010fee2d6f |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-1123e221472341bcbeadd4010fee2d6f2024-12-25T00:01:40ZengIEEEIEEE Access2169-35362024-01-011219295819297810.1109/ACCESS.2024.351585210793056Three-Tiered Controller for Obstacle Avoidance in a PV Panel-Powered Wheeled Mobile Robot: Considering Actuators and Power Electronics StagesErik Reyes-Reyes0https://orcid.org/0000-0002-3759-3829Benjamin Natanael Santiago-Nogales1https://orcid.org/0009-0001-4352-8388Ramon Silva-Ortigoza2https://orcid.org/0000-0002-7540-489XMagdalena Marciano-Melchor3https://orcid.org/0000-0003-1435-6908Jose Rafael Garcia-Sanchez4https://orcid.org/0000-0001-7036-0990Angel Adrian Orta-Quintana5https://orcid.org/0000-0001-6382-2261Gilberto Silva-Ortigoza6https://orcid.org/0000-0002-3970-1969Hind Taud7https://orcid.org/0000-0002-7644-5706Miguel Hernandez-Bolanos8https://orcid.org/0000-0002-5622-8747Laboratorio de Mecatrónica y Energía Renovable, CIDETEC, Instituto Politécnico Nacional, Mexico City, MexicoLaboratorio de Mecatrónica y Energía Renovable, CIDETEC, Instituto Politécnico Nacional, Mexico City, MexicoLaboratorio de Mecatrónica y Energía Renovable, CIDETEC, Instituto Politécnico Nacional, Mexico City, MexicoLaboratorio de Mecatrónica y Energía Renovable, CIDETEC, Instituto Politécnico Nacional, Mexico City, MexicoDivisión de Ingeniería Mecatrónica, Tecnológico de Estudios Superiores de Huixquilucan, Tecnológico Nacional de México, Estado de México, MexicoLaboratorio de Mecatrónica y Energía Renovable, CIDETEC, Instituto Politécnico Nacional, Mexico City, MexicoFacultad de Ciencias Físico Matemáticas, Benemérita Universidad Autónoma de Puebla, Puebla, MexicoLaboratorio de Mecatrónica y Energía Renovable, CIDETEC, Instituto Politécnico Nacional, Mexico City, MexicoLaboratorio de Mecatrónica y Energía Renovable, CIDETEC, Instituto Politécnico Nacional, Mexico City, MexicoThis research addresses the obstacle avoidance problem in wheeled mobile robots powered by renewable energy by considering all subsystems involved. A three-tier hierarchical controller is developed, integrating the technique of artificial potential fields. The proposed controller incorporates the dynamics of the three key subsystems typically found in a wheeled mobile robot: The mechanical structure, actuators, and power electronics. At the highest tier, input-output linearization is combined with artificial potential fields. The medium tier employs two controllers based on differential flatness theory, while the lowest tier incorporates sliding mode control and proportional-integral control. The effectiveness of the control strategy is experimentally validated using a differential drive-type wheeled mobile robot prototype, leveraging the TDK-Lambda G100-17 as a renewable energy emulator, along with the DS1104 board and Matlab-Simulink software. Experiments were conducted under two scenarios: a) the emulation of a commercial photovoltaic panel to simulate realistic operating conditions and b) the application of time-varying input voltages to replicate dynamic power source variations. The experimental results demonstrate the robustness of the proposed controller against sudden changes in system parameters, confirming its reliability and effectiveness.https://ieeexplore.ieee.org/document/10793056/Artificial potential fieldsDC motorsDC/DC Buck power converterdifferential flatness controlhierarchical systemobstacle avoidance |
| spellingShingle | Erik Reyes-Reyes Benjamin Natanael Santiago-Nogales Ramon Silva-Ortigoza Magdalena Marciano-Melchor Jose Rafael Garcia-Sanchez Angel Adrian Orta-Quintana Gilberto Silva-Ortigoza Hind Taud Miguel Hernandez-Bolanos Three-Tiered Controller for Obstacle Avoidance in a PV Panel-Powered Wheeled Mobile Robot: Considering Actuators and Power Electronics Stages IEEE Access Artificial potential fields DC motors DC/DC Buck power converter differential flatness control hierarchical system obstacle avoidance |
| title | Three-Tiered Controller for Obstacle Avoidance in a PV Panel-Powered Wheeled Mobile Robot: Considering Actuators and Power Electronics Stages |
| title_full | Three-Tiered Controller for Obstacle Avoidance in a PV Panel-Powered Wheeled Mobile Robot: Considering Actuators and Power Electronics Stages |
| title_fullStr | Three-Tiered Controller for Obstacle Avoidance in a PV Panel-Powered Wheeled Mobile Robot: Considering Actuators and Power Electronics Stages |
| title_full_unstemmed | Three-Tiered Controller for Obstacle Avoidance in a PV Panel-Powered Wheeled Mobile Robot: Considering Actuators and Power Electronics Stages |
| title_short | Three-Tiered Controller for Obstacle Avoidance in a PV Panel-Powered Wheeled Mobile Robot: Considering Actuators and Power Electronics Stages |
| title_sort | three tiered controller for obstacle avoidance in a pv panel powered wheeled mobile robot considering actuators and power electronics stages |
| topic | Artificial potential fields DC motors DC/DC Buck power converter differential flatness control hierarchical system obstacle avoidance |
| url | https://ieeexplore.ieee.org/document/10793056/ |
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