Mobile Robot-Ackerman Steering Navigation and Control Using Localization based on Kalman Filter and PID Controller

Abstract

The human desire for high efficiency drives the development of technology in various sectors. The transportation and logistics sectors are the sector that is affected by the presence of automated mobile robots. Automated mobile robots in carrying out their duties require the use of several sensors or sensor fusion. The implementation of sensor fusion has a problem where each sensor has its own characteristics. With the Kalman Filter, the implementation of sensor fusion is getting better because it can estimate the position of the mobile robot not only based on one sensor. In this research, we proposed a mobile robot with Ackerman steering that can overcome the slip on the wheels and control the speed when turning. The outdoor localization of the mobile robot utilizes the GPS and Compass sensor via sensor fusion. Then, we design the PID controller to control the velocity and the direction using the Ziegler-Nichols method. The simulation and experiment results show the effectiveness of the velocity control, direction control, and sensor fusion using the Kalman filter for outdoor localization. The waypoint navigation can be achieved with a tolerance value of 1 meter.