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A differential steering control with proportional controller for an autonomous mobile robot

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Main Authors: Mohd Saifizi, Saidonr, Hazry, Desa, Dr., Rudzuan, Md Noor
Other Authors: saifizi@unimap.edu.my
Format: Working Paper
Language:English
Published: Institute of Electrical and Electronics Engineers (IEEE) 2011
Subjects:
Differential steering control
Mobile robot
PID
Straight line
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/14007
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spelling 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)
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Differential steering control
Mobile robot
PID
Straight line
spellingShingle 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
score 13.222552

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