Motor Speed Synchronization of Mobile Robot Using PI Controller

Ashraf, Ayesha; Ahsan, Hira; Arshad, Muhammad

doi:10.1109/icodt252288.2021.9441518

Cited by 2 publications

(2 citation statements)

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“…Autonomous navigation has developed so much over time that it has formed applications in self-driving vehicles for delivery, hospitals, agriculture, helping farmers cultivate fields, harvesting crops and assisting companies in delivery of daily use items to the consumers [3]- [5]. These algorithms for navigation were developed to make human life easier as autonomous navigation helps the individual in moving the vehicles in restricted spaces for parking, driving, and lane assist [6], [7].…”

Section: Introductionmentioning

confidence: 99%

“…Depending upon these indoor/outdoor navigation requirements and environment, rover chassis and sensors are developed to make the robot more autonomous and robust. Some systems use camera for tracking the road edges using image/video processing, while other use IR, ultrasonic sensors, or laser sensors for obstacle avoidance [5], [19], [20]. Each of these systems used for navigation has some drawbacks, as road edges and marks are not available everywhere.…”

Section: Introductionmentioning

confidence: 99%

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IMU Aided GPS Based Navigation of Ackermann Steered Rover

Arshad

Hussain

Maud

et al. 2022

IJIST

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GPS signal loss is a major issue when the navigation system of rovers is based solely on GPS for outdoor navigation rendering the rover stuck in the mid of the road in case of signal loss. In this study, a low-cost IMU aided GPS-based navigation system for Ackermann Steered mobile robots is presented and tested to cater to the issue of GPS signal loss along. GPS path is selected and fed using the android application which provides real-time location tracking of the rover on the map embedded into the application. System utilizes Arduino along with the node MCU, compass, IMU, Rotary encoders, and an Ackermann steered rover. Controller processes the path file, compares its current position with the path coordinates and navigates using inertial sensor aided navigation algorithm, avoiding obstacles to reach its destination. IMU measures the distance traveled from each path point, and in case of signal loss, it makes the rover move for the remaining distance in the direction of destination point. Rover faced a sinusoidal motion due to the steering, so PID was implemented. The system was successfully tested on the IST premises and finds its application in the delivery trolley, institutional delivery carts, and related applications.

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