Home > Published Issues > 2023 > Volume 12, No. 1, January 2023 >
IJMERR 2023 Vol.12(1): 23-31
DOI: 10.18178/ijmerr.12.1.23-31

Design of Path Planning Controller of Autonomous Wheeled Mobile Robot Based on Triple Pendulum Behaviour

Salah M. Swadi*, Ahmed K. Kadhim, and Ghusoon M. Ali
Electrical Engineering Department, College of Engineering, Munstansiriyah University, Baghdad, Iraq
*Correspondence: s.m.swadi@uomustansiriyah.edu.iq

Manuscript received June 13, 2022; revised September 11, 2022; accepted October 5, 2022.

Abstract—This paper deals with the path planning of autonomous differential driving wheeled mobile robots. The path planning controller of the mobile robot is designed based on the chaotic behaviour of the Triple Pendulum (TP). The dynamic response of the TP is investigated using Simscape Multibody software. The chaotic behaviour of the TP is examined with a 0-1 test. The proposed model was tested with five different scenarios. In each experiment, the robot is designed to search for a target that may represent an exit point, dangerous material, or any specific target. This target is placed in an arbitrary position on a square arena 2500 mm by 2500 mm. In order to increase the complexity of the robot mission, the target is surrounded by an obstacle (u-shape) so that there is a unique entrance for the robot to reach the target. In addition, the proposed controller is compared with the controller based on a traditional chaotic system (Lorenz system), which is designed for this purpose. In this work, simulation results are conducted using the KiKS simulator. The results show the success of the proposed controller in completing all missions with 13.11 sec, 17.09 sec, 36.47 sec, 12.52 sec, and 12.49 sec for scenarios 1, 2, 3, 4, and 5, respectively. The second controller completed the same mission in 25.22 sec, 32.28 sec, 46.49 sec, 49.4 sec, and 33.38 sec. These results proved the proposed controller's advantage, which has great potential and can be investigated in the future.

Keywords—wheeled mobile robot, path planning, triple pendulum, Lorenz system, 0-1 test, chaotic systems

Cite: Salah M. Swadi, Ahmed K. Kadhim, and Ghusoon M. Ali, "Design of Path Planning Controller of Autonomous Wheeled Mobile Robot Based on Triple Pendulum Behaviour," International Journal of Mechanical Engineering and Robotics Research, Vol. 12, No. 1, pp. 23-31, January 2023.

Copyright © 2023 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.