The Design and Control of a Mobile Vehicle with Arduino Microcontroller Based on Algorithm Pid (original) (raw)
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Line following robots are extensively used in industries for smooth running of production and thus greater efficiency can be obtained if algorithm for smooth track keeping and obstacle avoidance can be implemented. This paper presents a simple and effective solution for path tracking problem for a wheeled mobile robot which can be used for material handling in industries. A PID controller has been used for controlling the robot which is capable of moving safely by smooth trackkeeping in partially structured environment without any collision with static or moving objects. The purpose of the project is to build a mobile robot which will provide fast, smooth, accurate and safe movement in any given line or track. A straight or wavy line would be simple to follow whereas a T-junction, 90 degree bends, acute angle bends and grid junctions would be difficult to navigate through. This is due to the physical kinematics constraints which are limited to motor response, position and turning radius of the robot. A line sensor configuration has been proposed to improve the navigation reliability of the mobile robot which uses differential drive system. A dynamic obstacle detection algorithm has been developed for detecting obstacles which ensures the reliable and safe movement of the robot.
Tracking of a PID Driven Differential Drive Mobile Robot
PID 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.
Line following robots are extensively used in industries for smooth running of production and thus greater efficiency can be obtained if algorithm for smooth track keeping and obstacle avoidance can be implemented. This paper presents a simple and effective solution for path tracking problem for a wheeled mobile robot which can be used for material handling in industries. A PID controller has been used for controlling the robot which is capable of moving safely by smooth trackkeeping in partially structured environment without any collision with static or moving objects. The purpose of the project is to build a mobile robot which will provide fast, smooth, accurate and safe movement in any given line or track. A straight or wavy line would be simple to follow whereas a T-junction, 90 degree bends, acute angle bends and grid junctions would be difficult to navigate through. This is due to the physical kinematics constraints which are limited to motor response, position and turning radius of the robot. A line sensor configuration has been proposed to improve the navigation reliability of the mobile robot which uses differential drive system. A dynamic obstacle detection algorithm has been developed for detecting obstacles which ensures the reliable and safe movement of the robot.
IJERT-PID Controller based Line Following and Obstacle Avoidance Two Wheeled Robot
International Journal of Engineering Research and Technology (IJERT), 2019
https://www.ijert.org/PID-Controller-based-Line-Following-and-Obstacle-Avoidance-Two-Wheeled-Robot https://www.ijert.org/research/pid-controller-based-line-following-and-obstacle-avoidance-two-wheeled-robot-IJERTCONV7IS02026.pdf This paper presents the development of an obstacle avoided for two wheeled robot more accurately than existing sensor interfaced robot application. In this project Arduino UNO is used as the main controller to react towards the radiations received from ultrasonic sensors and makes the robot to move safely without any collision with the obstacle. A dynamic PID control algorithm has been proposed to increase the accuracy of finding obstacles which will be very useful for the physically disabled. The experimental results show that the R1 dynamic PID algorithm can be performed under the system real time requirements.
Non-linear PID controller for trajectory tracking of a differential drive mobile robot
2020
The application of differential drive robots has grown from scientific research to broader industrial and commercial purposes. In order to Navigate the robot in difficult terrains, it must be well equipped with a robust controller with good path tracking ability and general stability. Typically, the wheeled mobile robot (WMR) can essentially be kinematically controlled by defining a route and determining the traveling time, speed and direction to get from one place to another. However, by ignoring the dynamic model of the robot, a purely kinematic model approach has been revealed to produce unrealistic results at higher speeds and loads. As a consequence, there are significant limitations to the applicability of solely kinematic systems to mobile robotics and hence, in recent years, there has been a trend towards the application of dynamic modelling. In this study, a simple but effective solution for the path tracking problem of a mobile robot using a PID controller is proposed. The method adopted is a trial and error technique with six tuning parameters for the robot to track a desired trajectory. The final mathematical derivation for a nonholonomic differential drive mobile robot was computationally simulated using MATLAB for both kinematic and dynamic models respectively. The controller was used to overcome the nonlinearity of the reference trajectory tracking as well as the speed of the DC motor adjustments. In order to evaluate the performance of the developed robot controller, tests were also carried out for different trajectories in terms of the initial and final conditions. The results show that the developed PID controller is responsive enough to be able to speed up when required to match the reference trajectory.
International Journal of Mechanical Engineering and Robotics Research
Differential-drive mobile robots are most commonly used in industrial applications among wheeled mobile robots. Therefore, this paper presents a method to design a variable parameter PID controller for a differential-drive mobile robot following NURBS trajectory with a desired time-varying velocity. First, the robot's nonlinear kinematic error model is established, from which linearized around the desired angular velocity to obtain a linear error equation. Then, the variable parameter PID controller is designed to control the robot to follow the NURBS trajectory with minor error under the condition of time-varying velocity. The controller coefficients are selected through simulation and experiment to achieve the minor kinematic error. A platform robot is designed and built to demonstrate the proposed controller. Simulation and experimental results are presented to illustrate the effectiveness of the proposed controller. Therefore, it is possible to apply this result to control mobile robots in industrial applications.
On-line Mobile Robot Path Tracking Using PI Controller
2006 Annual IEEE India Conference, 2006
This paper presents a method for the path tracking problem of a mobile robot using a PI controller. The proposed method inserts an ideal relay in parallel to a conventional PI controller to identify an equivalent FOPDT model for the kinematics of the mobile robot. The parallel connection of the ideal relay to the PI controller helps in designing a robust PI controller in presence of static load disturbances. Based on the identified model, the PI controller is retuned to achieve good performance without disrupting the closed loop control. The performance of the proposed method is discussed through the simulation result to verify the effectiveness of the proposed method.
Design of PID Controller for Direction Control of Robotic Vehicle
A PID Controller has been designed and incorporated into the Robot based Agricultural System. This system comprises of a Robotic Vehicle which navigates through the field in the desired direction performing tilling or de-weeding as it moves. The PID control system has been designed for automatic steering and speed control of the Robotic Vehicle. The PID control system continuously checks and corrects the direction of travel to keep the vehicle on desired track. PID Control equations for Discrete Time Domain have been derived and validated by using MATLAB. Functional tests were carried out using ModelSim. The hardware results were finally validated using MATLAB again. The direction accuracy achieved is better than 0.01%.
Design and Implementation of Line Follower Arduino Mobile Robot Using Matlab Simulink Toolbox
Iraqi Journal for Electrical and Electronic Engineering, 2021
The main problem of line follower robot is how to make the mobile robot follows a desired path (which is a line drawn on the floor) smoothly and accurately in shortest time. In this paper, the design and implementation of a complex line follower mission is presented by using Matlab Simulink toolbox. The motion of mobile robot on the complex path is simulated by using the Robot Simulator which is programed in Matlab to design and test the performance of the proposed line follower algorithm and the designed PID controller. Due to the complexity of selection the parameters of PID controller, the Particle Swarm Optimization (PSO) algorithm are used to select and tune the parameters of designed PID controller. Five Infrared Ray (IR) sensors are used to collect the information about the location of mobile robot with respect to the desired path (black line). Depending on the collected information, the steering angle of the mobile robot will be controlled to maintain the robot on the desire...
PI controller design for velocity control of a mobile robot
Journal of Fundamental and Applied Sciences, 2018
Velocity control of a ground robot is designed to obtain the current motion coordinate. Under the assumption of linear velocity and a fixed steering angle, the current motion coordinate of this robot can be defined. The closed loop control system is obtained by verification of DC motor model, design of speed controller by PI (proportional, and Integral) controller, and implementation of a kinematic model. A loop of PI controller is designed to provide a stable velocity to the system, and acquainted a current coordinate when the robot is started moving. The simulation and experimental results have demonstrated the functionality of velocity control of the mobile robot. Keywords: Linear velocity; steering angle; PI; mobile robot