Mohammed Najm Abdullah; Mohanad J. Ahmed
Abstract
The number of office transactions continually increasing ,therefore,several techniques proposed to improve quality of service for the office work.Improvements including electronic archiving limited; they didn’t solve theproblem of transferring parcels. Thus, paper transactions still exist inside ...
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The number of office transactions continually increasing ,therefore,several techniques proposed to improve quality of service for the office work.Improvements including electronic archiving limited; they didn’t solve theproblem of transferring parcels. Thus, paper transactions still exist inside asingle office building and the transfer needed within a time limit. This leads tosuggesting the autonomous vehicle for solving the delivery problem. In-order-toenable such the navigation within the indoor environment, an acceptablelocalization accuracy must exist. The wireless fingerprinting with GeneralizedRegression Neural Network (GRNN) for classification suggested in thisresearch for localization estimation. Furthermore, the estimated location fusedwith the Odometer to bring more stable results. The Accuracy gained about4.1cm which enables the vehicle to localize and navigate. ZigBee modules withArduino microcontrollers are the basic items of the research.
Hussein S. Mohammed; Bashar F. Midhat; Firas A. Raheem
Abstract
This paper addresses the problem of position control and stabilization for the two wheeled balancing robot. A mathematical model is derived based on the robot’s position and tilt angle and a fuzzy logic control is proposed for the balancing robot control. The fuzzy logic controller performance ...
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This paper addresses the problem of position control and stabilization for the two wheeled balancing robot. A mathematical model is derived based on the robot’s position and tilt angle and a fuzzy logic control is proposed for the balancing robot control. The fuzzy logic controller performance is compared with a conventional PID controller to show the difference between them. Both controllers were tested on the balancing robot in simulation using MATLAB software and the results were put together for a comparative point of view. The simulations shows a relative advantage for the fuzzy logic controller over the conventional PID controller especially in reducing the time required for stabilization which takes about 2 seconds and almost without overshoot while in the PID case the robot will have about 10% overshoot in position and about 20 degrees in tilt angle.
