A Novel LCOT Control Strategy for Self-Driving Electric Mobile Robots

Hwa-Dong Liu, Guo-Jyun Gao, Shiue- Der Lu () and Yi-Hsuan Hung
Additional contact information
Hwa-Dong Liu: Undergraduate Program of Vehicle and Energy Engineering, National Taiwan Normal University, Taipei 106, Taiwan
Guo-Jyun Gao: Undergraduate Program of Vehicle and Energy Engineering, National Taiwan Normal University, Taipei 106, Taiwan
Shiue- Der Lu: Department of Electrical Engineering, National Chin-Yi University of Technology, Taichung 411, Taiwan
Yi-Hsuan Hung: Undergraduate Program of Vehicle and Energy Engineering, National Taiwan Normal University, Taipei 106, Taiwan

Energies, 2022, vol. 15, issue 23, 1-18

Abstract: This study proposes a novel logarithm curve and operating time (LCOT) control strategy for a self-driving electric mobile robot. This new LCOT control strategy enables the mobile robot to speed up and slow down mildly when running longitudinally, turning left, turning right, and encountering an obstacle based on the relationship between the logarithm curve and operating time. This novel control strategy can enhance the comfort and stability of the self-driving electric mobile robot and reduce its vibrations and instabilities in the operation process. The proposed LCOT control strategy and the fixed duty cycle method were verified experimentally. The results showed that the LCOT control strategy spent 300 s running on a 3000 cm road, whereas the fixed duty cycle method spent 450 s. Because this novel method controls the acceleration and deceleration of the self-driving electric mobile robot gently and flexibly, the proposed LCOT control strategy has better working efficiency than the fixed duty cycle method. This novel control strategy is simple and easy to be implemented. As it can reduce the working load of the controller, increase system efficiency, and require low cost, it can be effectively used in a self-driving electric mobile robot.

Keywords: logarithm curve and operating time control strategy; self-driving electric mobile robot; fixed duty cycle method; acceleration and deceleration (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2022
References: View references in EconPapers View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/1996-1073/15/23/9178/pdf (application/pdf)
https://www.mdpi.com/1996-1073/15/23/9178/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jeners:v:15:y:2022:i:23:p:9178-:d:992623

Access Statistics for this article

Energies is currently edited by Ms. Agatha Cao

More articles in Energies from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().