Detection and control of a wheeled mobile robot based on magnetic navigation

Author

Guan Sun ; Dan Feng ; Youtong Zhang ; Dongdong Weng

Author_Institution

Beijing Inst. of Technol., Beijing, China

fYear

2013

fDate

23-26 June 2013

Firstpage

1

Lastpage

6

Abstract

This paper introduces the design of a wheeled mobile robot based on magnetic navigation. The working principle of magnetic navigation is analyzed, and a novel navigation path detection algorithm is proposed. Meanwhile, the fuzzy control algorithm and PID algorithm are combined to optimize the control performance of the steering servo and the electric motor. The experimental results show the effectiveness of both the detection and the control algorithm. The wheeled mobile robot can trace the navigation path automatically and precisely at a high speed.

Keywords

control system synthesis; fuzzy control; mobile robots; navigation; optimisation; path planning; servomechanisms; three-term control; PID algorithm; automatic navigation path tracing; control performance optimization; electric motor; fuzzy control algorithm; magnetic navigation; navigation path detection algorithm; steering servo; wheeled mobile robot control; wheeled mobile robot design; Inductors; Magnetic fields; Mobile robots; Navigation; Sensors; Wires; Control Algorithm; Magnetic Navigation; Path Detection Algorithm; Wheeled Mobile Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ASCC), 2013 9th Asian

Conference_Location

Istanbul

Print_ISBN

978-1-4673-5767-8

Type

conf

DOI

10.1109/ASCC.2013.6606273

Filename

6606273