PID based locomotion of multi-terrain robot using ROS platform

摘要

This work deals with the implementation of closed-loop control on the multi-terrain robots. The robots which are working in these terrains should be robust and are easily prone to deviate from the expected path due to the rugged path. An open-loop control on these robots will not correct this misdemeanor. An efficient method to fuse wheel encoder and Inertial measuring unit (IMU) data for Proportional - Integral - Derivative (PID) control of the wheeled robot in uneven pitches was proposed. The method to fuse this data available from different nodes using the Robot Operating System (ROS) was also described. The algorithms and methods proposed in this work can be implemented for odometry data used by Simultaneous Localisation and Mapping (SLAM) packages in ROS.