Abdollah Mirzabeigi1 - M.S of Control Engineering, Knowledge and culture University of Tehran. Faculty member of Science and Culture Universit, Hamedan branch
Seyed Mahdi Hosseini - M.S of Power engineering, Islamic Azad University, Arak branch. Supervisor of Hamedan. Power Energy Distribution Company.

The goal of this article studied and compared controlling different approaches in order to traverse the specified distance with desirable speed, meanwhile insure its stability. In this article, classic Kalman Filter Controlling method (CKF) and AOB active observer is used to system design a mobile robot. The system used feedback linearization controlling method to divide in two independent SISO linear systems and after discretization used to design and simulate the robot by two classic kalman controlling filter (CKF) and AOB active observer methods. Noise effects on different controllers is studied and expressed with considering the simulation results of AOB advantages as a controlling new strategy towards classic kalman filter (CKF). The results were about a wheelchair mobile robot (to transfer disability persons). all the results can be implemented practically.

Mobile robot, AOB active visitor, Path controlling, Classic Kalman filter(CKF), Feedback linearization, Noise effect