期刊名称：International Journal of Mechatronics, Electrical and Computer Technology
印刷版ISSN：2305-0543
出版年度：2018
卷号：8
期号：27
页码：3690-3704
出版社：Austrian E-Journals of Universal Scientific Organization
摘要：APID Controller has been designed and incorporated into the differential drive mobile robot. The mobile robot is built around an ARM7 based microcontroller LPC2129. It includes an odometry unit attached to the rear wheels and ZigBee based RF transceivers. The position and the orientation of mobile robot are estimated using the odometry unit. As a ZigBee based RF transceivers are integrated on mobile robot and remote PC an online tracking and control system is established. In several mobile robotic applications the control systems implemented are Open Loop Control System(OLCS). These OLCS based systems faces uncertainity errors on their tracjectory. To overcome such errors a Closed Loop Control System(CLCS) driven robot is discussed in this paper. A firmware including a Proportional-Integral-Derivative (PID) control algorithm is developed. This enables the online velocity tuning mechanism for the robots to drive in user defined trajectory. The PID control algorithm is developed for reducing the initial inertia error. Inertial errors affects the robot’s programmed velocity which intrun causes the robot to deviate from the user defined trajectory. The PID based CLCS periodically checks and corrects the individual wheel speed online to place the robot in trajectory. A LabVIEW application program is developed to compute, track the position and orientation of robot online. Experimental tests were conducted to demonstrate the working of the PID control system and the results are presented.
