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All Journal International Journal of Electrical and Computer Engineering Indonesian Journal of Electrical Engineering and Computer Science
Hanifi Elhachimi Amar Reda
University of Sciences and Technology of Oran
Computer Science & IT Electrical & Electronics Engineering

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Remote Control of Mobile Robot using the Virtual Reality Ibari Benaoumeur; Ahmed-Foitih Zoubir; Hanifi Elhachimi Amar Reda
International Journal of Electrical and Computer Engineering (IJECE) Vol 5, No 5: October 2015
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (260.935 KB) | DOI: 10.11591/ijece.v5i5.pp1062-1074

Abstract

In this paper we present the simulation and manipulation of  teleoperation system for remote control of mobile robot using the Virtual Reality (VR). The objective of this work is to allow the operator to control and supervise a unicycle type mobile robot. In this research we followed three ways: The use of articulated robotic mobile on the Web, the design of remote environment for the experimentation using the network for the mobile robot and the  architecture of control is proposed to facilitate the piloting of the robot. This work proposes a hardware and software architecture based on communication and information technologies to control the virtual robot to improve the control towards the remote robot. A path planning method is integrated to the remote control system. Results show the real possibilities offered by this manipulation, in order to follow a trajectory of the robot and to create applications with a distance access to facilities through networks like the Internet and wireless.
Backstepping Approach for Autonomous Mobile Robot Trajectory Tracking Ibari Benaoumeur; Benchikh Laredj; Hanifi Elhachimi Amar Reda; Ahmed-foitih Zoubir
Indonesian Journal of Electrical Engineering and Computer Science Vol 2, No 3: June 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v2.i3.pp478-485

Abstract

This paper proposes a backstepping controller design for trajectory tracking of unicycle-type mobile robots. The main object of the control algorithms developed is to design a robust output tracking controller. The design of the controller is based on the lyapunov theorem, kinematic tracking controller of an unicycle-like mobile robot is used to provides the desired values of the linear and angular velocities for the given trajectory. A Lyapunov-based stability analysis is presented to guarantee the robot stability of the tracking errors. Simulation and experimental results show the effectiveness of the proposed robust controller in term of accuracy and stability under different load conditions.
Co-Authors Ahmed-Foitih Zoubir Benchikh Laredj Ibari Benaoumeur