| Journal: | Journal of the Brazilian Society of Mechanical Sciences |
| Database: | PERIÓDICA |
| System number: | 000312149 |
| ISSN: | 0100-7386 |
| Authors: | Silveira, P.E1 Souza-Junior, R. de Biazotto, V.M |
| Institutions: | 1Universidade Sao Francisco, Centro de Ciencias Exatas e Tecnologicas, Itatiba, Sao Paulo. Brasil |
| Year: | 2002 |
| Season: | May |
| Volumen: | 24 |
| Number: | 2 |
| Pages: | 127-129 |
| Country: | Brasil |
| Language: | Inglés |
| Document type: | Artículo |
| Approach: | Experimental |
| English abstract | An Autonomous Mobile Robot battery driven, with two traction wheels and a steering wheel is being developed. This Robot central control is regulated by an IPC, which controls every function of security, steering, positioning localization and driving. Each traction wheel is operated by a DC motor with independent control system. This system is made up of a chopper, an encoder and a microcomputer. The IPC transmits the velocity values and acceleration ramp references to the PIC microcontrollers. As each traction wheel control is independent, it's possible to obtain different speed values for each wheel. This process facilities the direction and drive changes. Two different strategies for speed velocity control were implemented; one works with PID, and the other with fuzzy logic. There were no changes in circuits and feedback control, except for the PIC microcontroller software. Comparing the two different speed control strategies the results were equivalent. However, in relation to the development and implementation of these strategies, the difficulties were bigger to implement the PID control |
| Disciplines: | Ingeniería |
| Keyword: | Ingeniería biónica y cibernética, Ingeniería de control, Robot móvil, Control difuso, Control automático, Control de velocidad |
| Keyword: | Engineering, Bionics and cybernetics, Control engineering, Mobile robot, Fuzzy control, Automatic control, Velocity control |
| Full text: | Texto completo (Ver HTML) |
