Design of a differential-drive wheeled robot controller with pulse-width modulation

Citation

Arvin, Farshad and Samsudin, Khairulmizam and Nasseri, M. Ali (2009) Design of a differential-drive wheeled robot controller with pulse-width modulation. In: 2009 Conference on Innovative Technologies in Intelligent Systems and Industrial Applications (CITISIA 2009), 25-26 July 2009, Monash University, Sunway campus, Malaysia. (pp. 143-147).

Abstract

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.

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Additional Metadata

Item Type:	Conference or Workshop Item (Paper)
Divisions:	Faculty of Engineering
DOI Number:	https://doi.org/10.1109/CITISIA.2009.5224223
Publisher:	IEEE
Keywords:	Pulse-width modulation (PWM); AMiR; Mobile robots
Depositing User:	Nabilah Mustapa
Date Deposited:	10 Aug 2020 02:20
Last Modified:	10 Aug 2020 02:20
Altmetrics:	http://www.altmetric.com/details.php?domain=psasir.upm.edu.my&doi=10.1109/CITISIA.2009.5224223
URI:	http://psasir.upm.edu.my/id/eprint/45830
Statistic Details:	View Download Statistic

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