TY - GEN

T1 - Wheel Angular Velocity Stabilization using Rough Encoder Data

AU - Sotnikova, Margarita

AU - Veremey, Evgeny

AU - Zhabko, Natalia

PY - 2014

Y1 - 2014

N2 - The paper is devoted to the problem of wheel angular velocity stabilization using encoder data. The differential drive robot with four wheels is used as a mobile robot. The left wheels and right wheels are controlled separately. This allows robot to move forward or backward if we apply equal control signal for both sides' wheels, or to turn left or right if the control for left and right wheels is different. It is well-known that for differential drive robots the robot wheels angular velocity is slightly different even if the same control input is applied for left and right wheels. This lead to the arc trajectories of the robot instead of straight lines. To overcome this problem it's necessary to use some internal low-level controller for wheels angular velocity stabilization. In order to stabilize angular velocity we need estimation of its current value, which can be obtained using encoder data. The algorithm for angular velocity estimation and stabilization using rough encoder data is proposed. The simulation study and practical real-time implementation for a particular differential drive robot are presented using Matlab and Arduino environment.

AB - The paper is devoted to the problem of wheel angular velocity stabilization using encoder data. The differential drive robot with four wheels is used as a mobile robot. The left wheels and right wheels are controlled separately. This allows robot to move forward or backward if we apply equal control signal for both sides' wheels, or to turn left or right if the control for left and right wheels is different. It is well-known that for differential drive robots the robot wheels angular velocity is slightly different even if the same control input is applied for left and right wheels. This lead to the arc trajectories of the robot instead of straight lines. To overcome this problem it's necessary to use some internal low-level controller for wheels angular velocity stabilization. In order to stabilize angular velocity we need estimation of its current value, which can be obtained using encoder data. The algorithm for angular velocity estimation and stabilization using rough encoder data is proposed. The simulation study and practical real-time implementation for a particular differential drive robot are presented using Matlab and Arduino environment.

KW - differential drive robot

KW - wheel angular velocity

KW - encoder data

KW - stabilization

M3 - статья в сборнике материалов конференции

T3 - International Conference on Control Automation and Systems

SP - 1345

EP - 1350

BT - 2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014)

PB - IEEE Canada

Y2 - 22 October 2014 through 25 October 2014

ER -