Differential Drive Adaptive Proportional-Integral-Derivative (PID) Controlled Mobile Robot Speed Synchronization

摘要

In this paper we present the implementation of proportional integral derivative (PID) controlled mobile robot. we propose a mobile robot control method which based on optical encoder. First, the mobile robot counts the number of pulses from optical sensor. This system rejects the denouncing and optical sensor noises and makes a precise count of both the wheel rotation at the same time. Then through an adaptive PID control loop it controls the speed of both the motors to reach user defined set point. PID auto tuning methods are performed in different situations like on air, on ground and with load increase. This system detects the situation the robot at present and switches between its different modes to achieve the quickest maximum efficiency. Speed of each motor is controlled by Pulse Width Modulation (PWM). Finally, we experiment in a real environment, and verify the utility of the propose method.