PID Controller-based Object Tracking and Speed Control System for Wheeled Soccer Robot

摘要

This paper discussed about the detection system of ball objects and speed control system of wheeled robot football using PID controller. The object detection system uses behavior-based control methods based on the orientation of the robot position against the object position. The position of the robot is controlled to keep it perpendicular to the ball. When the position of the robot is perpendicular to the ball, the robot will move with a certain speed that is controlled by the PID controller based on the distance between the robot and the ball. Test results in static conditions (static balls) show the robot can detect the object of the ball, either when the position of the object perpendicular, to the right, or left of the robot. In testing the dynamic state (moving ball) with random directions, the robot can also move dynamically as the ball position changes.