Differential Drive Adaptive Proportional-Integral-Derivative (PID) Controlled Mobile Robot Speed Synchronization

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Provided by: International Journal of Computer Applications
Topic: Mobility
Format: PDF
In this paper, the authors present the implementation of Proportional Integral Derivative (PID) controlled mobile robot. They propose a mobile robot control method which based on optical encoder. First, the mobile robot counts the number of pulses from optical sensor. This system rejects the denouncing and optical sensor noises and makes a precise count of both the wheel rotation at the same time. Then through an adaptive PID control loop it controls the speed of both the motors to reach user defined set point. PID auto tuning methods are performed in different situations like on air, on ground and with load increase.
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