A Low Cost Mobile Robot Based on Proportional Integral Derivative (PID) Control System and Odometer for Education

In this article, the development of a low cost mobile robot based on PID controller and odometer for education is presented. PID controller and odometer is applied for controlling mobile robot position. Two-dimensional position vector in cartesian coordinate system have been inserted to robot contro...

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Bibliographic Details
Published inJournal of physics. Conference series Vol. 997; no. 1; pp. 12046 - 12053
Main Authors Haq, R, Prayitno, H, Dzulkiflih, Sucahyo, I, Rahmawati, E
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 01.03.2018
Subjects
Actuators
Cartesian coordinates
Coders
Controllers
Education
Low cost
Physics
Position measurement
Position sensing
Proportional integral derivative
Robots
Shaft encoders
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Summary:In this article, the development of a low cost mobile robot based on PID controller and odometer for education is presented. PID controller and odometer is applied for controlling mobile robot position. Two-dimensional position vector in cartesian coordinate system have been inserted to robot controller as an initial and final position. Mobile robot has been made based on differential drive and sensor magnetic rotary encoder which measured robot position from a number of wheel rotation. Odometry methode use data from actuator movements for predicting change of position over time. The mobile robot is examined to get final position with three different heading angle 30°, 45° and 60° by applying various value of KP, KD and KI constant.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/997/1/012046