Modelling and Position Controlling of Two Wheeled Mobile Robot

DOI

10.2991/aer.k.211129.021How to use a DOI?

Keywords

two-wheeled mobile robot; Matlab system identification toolbox; motor open loop experiment

Abstract

This paper deals with the simulation works for modelling two DC motors and controlling the path position of two wheeled mobile robot based on odometry to track robot movements. The mathematical models of the DC motors which are the main actuators for the robot are obtained by using Matlab System Identification Toolbox. This identification process acquires observed data consisting of input voltage and output speed of each motor obtained during open loop experiment. The open loop response of the resulted mathematical model of the motor is then compared to that of its respective original motor. The position controller of the robot has both inner loop speed feedback and outer loop position feedback. The Proportional, Integral and Derivative (PID) controller is utilized in speed controller part to regulate the speed of the motor, while the Proportional controller is used in position controller part to track the position of the robot. The orientation angle of the robot is calculated using odometry formula. The difference between the orientation angle of the robot and the target angle is called the orientation angle error. This error is used to adjust the speed of each motor such that the robot can be moved straight to the target point.

Copyright

© 2021 The Authors. Published by Atlantis Press International B.V.

Open Access

This is an open access article under the CC BY-NC license.

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TY  - CONF
AU  - B. Supriyo
AU  - A. Suharjono
AU  - K. W. Atmaja
PY  - 2021
DA  - 2021/11/30
TI  - Modelling and Position Controlling of Two Wheeled Mobile Robot
BT  - Proceedings of the International Conference on Innovation in Science and Technology (ICIST 2020)
PB  - Atlantis Press
SP  - 95
EP  - 99
SN  - 2352-5401
UR  - https://doi.org/10.2991/aer.k.211129.021
DO  - 10.2991/aer.k.211129.021
ID  - Supriyo2021
ER  -