A novel inertia moment estimation algorithm collaborated with Active Force Control scheme for wheeled mobile robot control in constrained environments

• Main Authors: Ali, Mohammed Abdo Hashem, Radzak, Muhammad Sawal A., Mailah, Musa, Yusoff, Nukman, Abd Razak, Bushroa, Ab Karim, Mohd Sayuti, Ameen, Wadea, Jabbar, Waheb A., Alsewari, AbdulRahman A., Rassem, Taha H., Nasser, Abdullah B., Abdulghafor, Rawad
• Format: Article
• Published: Elsevier 2021
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.um.edu.my/34485/
• Institution: Universiti Malaya

This paper presents a novel inertia moment estimation algorithm to enable the Active Force Control Scheme for tracking a wheeled mobile robot (WMR) effectively in a specific trajectory within constrained environments such as on roads or in factories. This algorithm, also known as laser simulator log...