A differential steering control with proportional controller for an autonomous mobile robot
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| Language: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2011
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| Online Access: | http://dspace.unimap.edu.my/xmlui/handle/123456789/14007 |
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my.unimap-140072017-11-29T05:00:28Z A differential steering control with proportional controller for an autonomous mobile robot Mohd Saifizi, Saidonr Hazry, Desa, Dr. Rudzuan, Md Noor saifizi@unimap.edu.my hazry@unimap.edu.my rudzuan@unimap.edu.my Differential steering control Mobile robot PID Straight line Link to publisher's homepage at http://ieeexplore.ieee.org/ In this paper, differential steering control with proportional controller method are developed. In the steering control of mobile robot, the underlying dynamics of processes are often highly complex due to operating problems such as actuator constrains, time delay and disturbances. Because of these reasons, many control system of mobile robots require extensive retuning the control parameter and the worst cases may result in redesigning or change the control program and hardware. To solve the above mentioned problems, we use proportional control method. Based on the model proportional control method, we predict the path that the mobile robot will follow by using the current velocities of the right wheel and the left wheel which update the real-time current position of mobile robot. The model proportional method is to overcome time delay cause by slow response of the sensor and other dynamic processes. The outputs from the control are the velocity and angular velocity of mobile robot. From these velocity and angular velocity of mobile robot we determine the number of encoder pulses for the right wheel and left wheel. The number of encoder pulses for the right wheel and left wheel are input to the right DC motor and to the left DC motor of mobile robot to generate the velocity of each wheel. The proportional controller is used to produce the same speed of the right wheel and the left wheel in order to make the mobile robot move in a straight line. It also used to produce the desired speed of the right wheel and left wheel for steering control to make left or right turning. 2011-10-04T11:56:41Z 2011-10-04T11:56:41Z 2011-03-04 Working Paper p. 90-94 978-1-6128-4414-5 http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5759849 http://hdl.handle.net/123456789/14007 en Proceedings of the 7th International Colloquium on Signal Processing and Its Applications (CSPA 2011) Institute of Electrical and Electronics Engineers (IEEE) |
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Universiti Malaysia Perlis |
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Malaysia |
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Universiti Malaysia Perlis |
| content_source |
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http://dspace.unimap.edu.my/ |
| language |
English |
| topic |
Differential steering control Mobile robot PID Straight line |
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Differential steering control Mobile robot PID Straight line Mohd Saifizi, Saidonr Hazry, Desa, Dr. Rudzuan, Md Noor A differential steering control with proportional controller for an autonomous mobile robot |
| description |
Link to publisher's homepage at http://ieeexplore.ieee.org/ |
| author2 |
saifizi@unimap.edu.my |
| author_facet |
saifizi@unimap.edu.my Mohd Saifizi, Saidonr Hazry, Desa, Dr. Rudzuan, Md Noor |
| format |
Working Paper |
| author |
Mohd Saifizi, Saidonr Hazry, Desa, Dr. Rudzuan, Md Noor |
| author_sort |
Mohd Saifizi, Saidonr |
| title |
A differential steering control with proportional controller for an autonomous mobile robot |
| title_short |
A differential steering control with proportional controller for an autonomous mobile robot |
| title_full |
A differential steering control with proportional controller for an autonomous mobile robot |
| title_fullStr |
A differential steering control with proportional controller for an autonomous mobile robot |
| title_full_unstemmed |
A differential steering control with proportional controller for an autonomous mobile robot |
| title_sort |
differential steering control with proportional controller for an autonomous mobile robot |
| publisher |
Institute of Electrical and Electronics Engineers (IEEE) |
| publishDate |
2011 |
| url |
http://dspace.unimap.edu.my/xmlui/handle/123456789/14007 |
| _version_ |
1643802715997863936 |