Control System Design Of An Externally Guided Vehicle To Follow A Predetermined Path

Zahid, Muhammad Zulhilmi Aidil (2019) Control System Design Of An Externally Guided Vehicle To Follow A Predetermined Path. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This research mainly aims to build and develop a system to follow a pre-defined path for a mobile4-wheel steering robot. The article is basically made up of five chapters. The main research concept is discussed in Chapter 1. The material from previous research on the title of this research is provided in Chapter 2. Chapter 3 describes the process to be carried out while this work is done. The mechanical design of the mobile robot consists of a two-controlled encoder SKds40A servo motor, the dsPIC30F4013 microcontroller board. The motor is controlled with MD10C motor driver. The power of the system is from two 12V batteries. This research would include the use of a closed loop control system with a proportional integral derivative (PID) and using MATLAB-/Simulink-Software control system. The information will be transferred via co-simulation for research purposes to the MATLAB / Simulink applications. The research is conducted using the MATLAB / Simulink speed versus time graph. To be implemented in the mobile robot microcontroller, the MPLab software’s are used to transform control systems from MATLAB / Simulink in a program code.

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