Wheel Angular Velocity Stabilization using Rough Encoder Data

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2 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014)
PublisherIEEE Canada
Pages1345-1350
Number of pages6
StatePublished - 2014
Event14th International Conference on Control, Automation and Systems (ICCAS) -
Duration: 22 Oct 201425 Oct 2014

Publication series

NameInternational Conference on Control Automation and Systems
PublisherIEEE
ISSN (Print)2093-7121

Conference

Conference14th International Conference on Control, Automation and Systems (ICCAS)
Period22/10/1425/10/14

Keywords

  • differential drive robot
  • wheel angular velocity
  • encoder data
  • stabilization

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