Omni-drive-robot-Simulation

Comparative Analysis of NMPC and Fuzzy PID Controllers for Trajectory Tracking in Omni-Drive Robots: Design, Simulation, and Performance Evaluation. The paper is published in International Journal of Fuzzy Systems(Impact factor: 4.3) and can be accessed through following paper Link.

Requirements:

• matlab/simulink
• CoppeliaSim Edu version

Installation

Run this command on command prompt to clone the repository:

git clone https://github.com/love481/Omni-drive-robot-Simulation.git

Usage

Use the following script to initialize the path of working directory:

startup.m

Make sure to open the CoppeliaSim simulation environment before running below code. Use the following scripts for running the simulation:

# For tracking using fuzzyPID
fuzzyPID_vrep.m

# For tracking using NMPC
mpc_vrep.m

folder Structure

• scene --> Simulation Environment for the robot
• code/common --> Contains the common utility classes or functions needed to initialize the remote connection, initializing different PID algorithms, trajectory generators, transformation and so on.
• code/omni_drive --> Contains Fuzzy inference system along with scripts for trajectory tracking of omni-drive robot using both type fuzzyPID and NMPC.

Visualization of Position and Velocity Tracking for NMPC

Citation

If any part of our paper and code is helpful to your work, please generously cite with:

@article{panta2024comparative,
  title={Comparative Analysis of NMPC and Fuzzy PID Controllers for Trajectory Tracking in Omni-Drive Robots: Design, Simulation, and Performance Evaluation},
  author={Panta, Love},
  journal={International Journal of Fuzzy Systems},
  pages={1--11},
  year={2024},
  publisher={Springer}
}

Contact Information

Please feel free to contact me if any help needed

Email: 075bei016.love@pcampus.edu.np