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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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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Abstract 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.
AbstractList 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.
Author Haq, R
Prayitno, H
Sucahyo, I
Rahmawati, E
Dzulkiflih
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Cites_doi 10.12928/telkomnika.v10i4.862
10.1109/TRA.2002.1019477
10.1017/CBO9780511780929
10.1109/21.24530
10.1109/TCST.2005.847331
10.1002/cae.20283
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Copyright Published under licence by IOP Publishing Ltd
2018. This work is published under http://creativecommons.org/licenses/by/3.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.
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References 1
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StartPage 12046
SubjectTerms Actuators
Cartesian coordinates
Coders
Controllers
Education
Low cost
Physics
Position measurement
Position sensing
Proportional integral derivative
Robots
Shaft encoders
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Title A Low Cost Mobile Robot Based on Proportional Integral Derivative (PID) Control System and Odometer for Education
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