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

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.