TY - GEN
T1 - Design of a differential-drive wheeled robot controller with pulse-width modulation
AU - Arvin, Farshad
AU - Samsudin, Khairulmizam
AU - Nasseri, M. Ali
PY - 2009
Y1 - 2009
N2 - This paper presents mobile robots motion control technique based on pulse-width modulation (PWM). This technique is employed on AMiR which is an autonomous miniature robot for swarm robotic platform. That uses differential drive with a caster wheel configuration. Robot's motors enable to work with different speed in different direction, forward and reverse. A microcontroller as the main processor is deployed to generate motor control pulses and manage duty-cycle of PWM signals. Two methods in robot trajectory control which are rotation and straight movement are described in this paper. Time estimation and also speed selection calculations illustrate the feasibility of this technique to be used in mobile robot motion control problem.
AB - This paper presents mobile robots motion control technique based on pulse-width modulation (PWM). This technique is employed on AMiR which is an autonomous miniature robot for swarm robotic platform. That uses differential drive with a caster wheel configuration. Robot's motors enable to work with different speed in different direction, forward and reverse. A microcontroller as the main processor is deployed to generate motor control pulses and manage duty-cycle of PWM signals. Two methods in robot trajectory control which are rotation and straight movement are described in this paper. Time estimation and also speed selection calculations illustrate the feasibility of this technique to be used in mobile robot motion control problem.
UR - http://www.scopus.com/inward/record.url?scp=70449097999&partnerID=8YFLogxK
U2 - 10.1109/CITISIA.2009.5224223
DO - 10.1109/CITISIA.2009.5224223
M3 - Conference contribution
AN - SCOPUS:70449097999
SN - 9781424428878
T3 - 2009 Innovative Technologies in Intelligent Systems and Industrial Applications, CITISIA 2009
SP - 143
EP - 147
BT - 2009 Innovative Technologies in Intelligent Systems and Industrial Applications, CITISIA 2009
T2 - 2009 Innovative Technologies in Intelligent Systems and Industrial Applications, CITISIA 2009
Y2 - 25 July 2009 through 26 July 2009
ER -