Sliding Mode control using ANFIS reasoning for Non-Holonomic Wheel Mobile Robot for the slipping surface

Abstract

Mobile robots are more and more interested in various types of applications for industrial uses and services in restaurants, hospitals, and houses, such as cleaning robots, food delivery robots, and medical mobile services. Various factors of the mobile robot are concerned, such as speed, velocity, acceleration, torque, load, friction, and so on, to effect the robot slippage caused by losing position and reducing efficiency. This thesis proposes new methodology for reducing, eliminating and controlling slippage of the NHWM robot. The second objective is to develop mathematical model using sliding mode and ANFIS model slippage control system (SCS) for AMR mobile robot. The third objective is to develop ROS2 package for AMR control system interfaced with MCU Raspberry Pi4 and controller ESP32, and the fourth objective is to design and construct the AMR pilot mobile robot for testing slippage and SCS performance. The simulation is created on MATLAB Simulink under the dynamic control, trajectory and path planning, B-splined movement, and ANFIS reasoning for prediction. Nonholonomic wheeled mobile robots (WMR) have been studied with unknown wheel slips.