Ng, K. H. and Yeong, Che Fai and Su, Eileen Lee Ming and Hussain, Abdul Rashid (2012) Implementation of cascade control for wheeled mobile robot straight path navigation. In: ICIAS 2012 - 2012 4th International Conference on Intelligent and Advanced Systems: A Conference of World Engineering, Science and Technology Congress (ESTCON) - Conference Proceedings. IEEE, New York, USA, pp. 503-506. ISBN 978-145771967-7
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Official URL: http://dx.doi.org/10.1109/ICIAS.2012.6306067
Abstract
A cascade controller was proposed for mobile robot navigation because of the simplicity of control algorithm. For a robot that requires to only complete straight path navigation, the cascade controller is an attractive solution. Compared to typical mobile robot navigation algorithms, this cascade control does not need any path tracking control and only uses simple PID for navigation. For each mobile robot wheels, a position PID controller is cascaded to a velocity PID controller. An additional PID controller is added in between both wheels to make sure the mobile robot moves in a straight path. An experiment was done on a differential drive robot and results were presented.
| Item Type: | Book Section |
|---|---|
| Additional Information: | Indexed by Scopus |
| Uncontrolled Keywords: | attractive solutions, cascade control, cascade controller, differential drive robots, mobile robot navigation, path navigation, path tracking control, PID controllers, wheeled mobile robot |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Electrical Engineering |
| ID Code: | 35808 |
| Deposited By: | INVALID USER |
| Deposited On: | 11 Nov 2013 09:47 |
| Last Modified: | 04 Feb 2017 05:52 |
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