Identification and development of a real-time motion control for a mobile robot's DC gear motor

Abstract

This paper proposes a real-time motion control of a wheeled mobile robot. An effective Proportional-Integral-Derivative (PID) controller has been synthesised for the robot's speed. In the process, owing to the shortage in the chosen gear motor characteristics, we need to model the robot's gear motor. Most of identification and computation techniques presented in this research use intelligent tools in order to obtain best desired performances of the closed loop system. The proposed technique consists of comparing between presented methods in order to get the best system's response. We apply sets of techniques and experiments to test the speed response of the gear motor using a Digital Signal Processor (DSP) of Texas Instruments integrated in a digital development tool.