A Custom Robotic Vehicle Prototype for Disinfecting Workplaces

Abadi, Ali Soltani Sharif

A Custom Robotic Vehicle Prototype for Disinfecting Workplaces

Journal of Automation, Mobile Robotics and Intelligent Systems

Volume 19 (2025): Issue 3 (September 2025)

By: Ali Soltani Sharif Abadi

Open Access

|Sep 2025

Figures & Tables

Simulation results of the first practice of the first scenario

Simulation results of the second practice of the first scenario

Simulation results of the third practice of the first scenario

Simulation results of the first practice of the second scenario

Simulation results of the second practice of the second scenario

Simulation results of the third practice of the second scenario

Simulation results of the first practice of the third scenario

Simulation results of the second practice of the third scenario

Simulation results of the third practice of the third scenario

Simulation results of the first practice of the fourth scenario

Simulation results of the second practice of the fourth scenario

Simulation results of the third practice of the fourth scenario

Parameters in different practices of the first scenario

Practices	Parameters Selected by the User			Parameters Calculated by the STC Method		Calculated Values of the Cost Functions
	x_s	T_s	R	Q	P	J_STC	J_LQR	J_PID
1^st	8	0.1	10	13268.90	22.31	5.11 × 10⁴	5.11 × 10⁴	5.70 × 10⁴
2^nd	0.5	0.5	1	43.47	5.991	428.9	428.9	1015.8
3^rd	0.01	1	0.1	7.63	6.908	68.08	68.08	113.57

Parameters in different practices of the second scenario

Practices	Parameters Selected by the User			Parameters Calculated by the STC Method		Calculated Values of the Cost Functions
	x_s	T_s	Q	R	P	J_STC	J_LQR	J_PID
1^st	–1	2	8.093	0.5	0.8047	263.9	263.9	513.41
2^nd	–4	0.02	311206.2	100	11.16	720678.15	720678.15	1366900
3^rd	–0.01	1.5	4.291	0.01	4.143	26.53	26.53	27.1698

Parameters in different practices of the third scenario

Practices	Parameters Selected by the User			Parameters Calculated by the STC Method		Calculated Values of the Cost Functions
	x_s	Q	R	T_s	P	J_STC	J_LQR	J_PID
1^st	0.5	1	1	0.40	2.6	0.8997	0.8997	6.6644
2^nd	0.01	4	0.2	0.42	11.63	0.8022	0.8022	1.4403
3^rd	1	0.04	0.2	0.35	1.163	0.08111	0.08111	1.3284

Parameters in different practices of the fourth scenario

Practices	Parameters Selected by the User			Parameters Calculated by the STC Method		Calculated Values of the Cost Functions
	Q	R	T_s	x_s	P	J_STC	J_LQR	J_PID
1^st	4	2	3	–0.23	0.8544	38.39	38.39	62.4464
2^nd	0.01	60	10	–1.1	0.1003	0.4563	0.4563	102.9896
3^rd	1	1	0.01	–2.982	0.6083	13.05	13.05	16.4667

DOI: https://doi.org/10.14313/jamris-2025-022 | Journal eISSN: 2080-2145 | Journal ISSN: 1897-8649

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Language: English

Page range: 25 - 37

Submitted on: Aug 9, 2024

Accepted on: Feb 28, 2025

Published on: Sep 10, 2025

Published by: Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP

In partnership with: Paradigm Publishing Services

Publication frequency: 4 issues per year

Keywords:

control,

Related subjects:

Artificial intelligence,

Engineering,

Electrical engineering,

Control engineering, metrology and testing,

Mechanical engineering,

Fundamentals of mechanical engineering

© 2025 Ali Soltani Sharif Abadi, published by Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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A Custom Robotic Vehicle Prototype for Disinfecting Workplaces

Figures & Tables

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Parameters in different practices of the first scenario

Parameters in different practices of the second scenario

Parameters in different practices of the third scenario

Parameters in different practices of the fourth scenario

Paradigm

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