Roslan, Muhammad Alif Haziq (2019) Design And Development Of A Control System For A 4 Wheel Skid Steering Mobile Robot. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)
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Abstract
4-wheel skid steering mobile robot consists of 4 wheel where each two wheels is controlled by a single motor for each side. The direction of the skid steering mobile robot is determined by controlling the speed for each side of the motor. The mobile robot tends to move to the right if the speed of the right motor is lesser than the left motor and vice versa. The mobile robot will travel in a straight line if the same speed is applied to both side of the motor. The goal of this research is to develop a PID closed loop control system to control the rotation of the motor. The control system is developed by using Matlab/Simulink with the help of Mplab block set toolbox installed in the Matlab. Each motor is controlled by single motor driver MD10C where each motor driver is connected to the single microcontroller board SKds40A DsPIC30F4011 is the PIC used in this project. The circuit is powered by 2 set of 12V batteries connected parallel. PWM signal is used to control the rotation of the motor as well as speed. At the end of the research, graph of Angle of rotation vs time is expected. Output response of the motor is observed to determine the best parameter of kp, ki, and kd. As soon the parameter is determined, the control system is embedded to the mobile robot. The control of the robot is through wireless connection between controller and laptop with the help of XBEE device
| Item Type: | Final Year Project (Project Report) |
|---|---|
| Uncontrolled Keywords: | Mobile Robots, Robots Control Systems |
| Subjects: | T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery |
| Divisions: | Library > Final Year Project > FKP |
| Depositing User: | Norfaradilla Idayu Ab. Ghafar |
| Date Deposited: | 18 Mar 2021 00:41 |
| Last Modified: | 19 Dec 2023 07:21 |
| URI: | http://digitalcollection.utem.edu.my/id/eprint/25053 |
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