Various Navigation and Control System Design Aspects for Mobile Robots

Ahmed Rehawi

doi:10.37591/joma.v10i2.7474

Abstract

An appropriate control systems design for robots is essential for their safe operation. Many researchers have explored various control systems, including linear, nonlinear, adaptive, robust, and optimal controllers, etc. for variousrobotic operations. In recent era, many of the under-graduate and post-graduate degrees have had courses on robotic control. In the last decades, many of universities have included educational robots in their curriculum covering the kinematics, dynamics, control, guidance, and navigational aspects. Thispaper reviews the various navigation and control systems designed for Quanser robots for the last decade. It is to be noted that many of these controller design aspects assume that the sensors and actuator are fault-free and the nominal control could able to provide the design specification. In this paper, after the thorough review, it will be argued that though some controllers have some inherent capabilities to deal with fault – but are not sufficient for real-life applications; hence there is still enough scope for extensive research in the area of fault- tolerant controllers for mobile robots.

Abstract

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