Three-Tiered Controller for Obstacle Avoidance in a PV Panel-Powered Wheeled Mobile Robot: Considering Actuators and Power Electronics Stages

This research addresses the obstacle avoidance problem in wheeled mobile robots powered by renewable energy by considering all subsystems involved.A three-tier hierarchical controller is developed, integrating the technique of artificial potential fields.The proposed controller incorporates the 006719f dynamics of the three key subsystems typically

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