DocumentCode :
1768381
Title :
Wheel angular velocity stabilization using rough encoder data
Author :
Sotnikova, Margarita ; Veremey, Evgeny ; Zhabko, Natalia
Author_Institution :
Dept. of Comput. Applic. & Syst., St.-Petersburg State Univ., St. Petersburg, Russia
fYear :
2014
fDate :
22-25 Oct. 2014
Firstpage :
1345
Lastpage :
1350
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.
Keywords :
angular velocity control; angular velocity measurement; mobile robots; rough set theory; stability; trajectory control; wheels; Arduino environment; Matlab environment; angular velocity estimation; arc trajectories; differential drive robots; internal low-level controller; mobile robot; rough encoder data; wheel angular velocity stabilization; Estimation; Mobile robots; Oscillators; Real-time systems; Tracking loops; Voltage measurement; Wheels; differential drive robot; encoder data; stabilization; wheel angular velocity;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Automation and Systems (ICCAS), 2014 14th International Conference on
Conference_Location :
Seoul
ISSN :
2093-7121
Print_ISBN :
978-8-9932-1506-9
Type :
conf
DOI :
10.1109/ICCAS.2014.6987765
Filename :
6987765
Link To Document :
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