6 October 1998 Design development of steering and speed control for an intelligent mobile robot
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Abstract
Exploratory research on the design of a modular autonomous mobile robot controller for steering and speed control is described. The high level control of the robot incorporates a fuzzy logic approach. Steering and speed control are achieved using a three-axis Galil motion controller. The steering mechanism and the speed control involve the parallel control of the robot's two front wheels based on decisions made by the upper level fuzzy logic to guide the robot in a desired direction to follow a specific path and avoid obstacles in that path. The steering motors are Electrocraft brush DC motor. The BDC amplifiers are run in the current loop mode. The overall control is supervised by a personal computer through the multi-axis controller. The system has been simulated on Matlab and Simulink and optimal values for the digital gains were achieved for desired control. Testing of these systems has been done in a laboratory setting as well as on an outside track with positive results.
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Kaylan Chakravarthi Kolli, Kaylan Chakravarthi Kolli, Krishnamohan Kola, Krishnamohan Kola, Ernest L. Hall, Ernest L. Hall, } "Design development of steering and speed control for an intelligent mobile robot", Proc. SPIE 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision, (6 October 1998); doi: 10.1117/12.325775; https://doi.org/10.1117/12.325775
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