Control for balancing line follower robot using discrete cascaded PID algorithm on ADROIT V1 education robot

摘要

Robotics has been widely used in education as a learning tool to attract and motivate students in performing laboratory experiments within the context of mechatronics, electronics, microcomputer, and control. In this paper we propose an implementation of cascaded PID control algorithm for line follower balancing robot. The algorithm is implemented on ADROIT V1 education robot kits. The robot should be able to follow the trajectory given by the circular guideline while maintaining its balance condition. The controller also designed to control the speed of robot movement while tracking the line. To obtain this purpose, there are three controllers that is used in the same time; balancing controller, speed controller and the line following controller. Those three controllers are cascaded to control the movement of the robot that uses two motors as its actuator. From the experiment, the proposed cascaded PID controller shows an acceptable performance for the robot to maintain its balance position while following the circular line with the given speed setpoint.