Cover Image

Velocity Control Of A Car-Like Mobile Robot

The velocity control is a very important component for every mobile robot. This velocity control will provide a stable velocity to the system, and increase the ability of calculation the movement coordinate of the mobile robot. Meanwhile, the velocity control of a car-like mobile robot is a main tit...

Full description

Saved in:
Bibliographic Details
Main Author: Top , Sokunphal
Format: Thesis
Language:English
Published: 2017
Subjects:
TK1-9971 Electrical engineering. Electronics. Nuclear engineering
Online Access:http://eprints.usm.my/39523/1/TOP_SOKUNPHAL_24_Pages.pdf
http://eprints.usm.my/39523/
Tags: Add Tag
No Tags, Be the first to tag this record!
id my.usm.eprints.39523
record_format eprints
spelling my.usm.eprints.39523 http://eprints.usm.my/39523/ Velocity Control Of A Car-Like Mobile Robot Top , Sokunphal TK1-9971 Electrical engineering. Electronics. Nuclear engineering The velocity control is a very important component for every mobile robot. This velocity control will provide a stable velocity to the system, and increase the ability of calculation the movement coordinate of the mobile robot. Meanwhile, the velocity control of a car-like mobile robot is a main title in this dissertation. The main purpose of the velocity control of a car-like mobile robot is to design speed controller and apply the car-like robot kinematic model in order to obtain the current movement coordinate of the robot. There are some procedures to achieve the objective of this project such as to verify DC motor model, design the speed controller based on PI controller, and implement with car-like robot kinematic model. The DC motor model can be verified based on real-time experiment. The speed controller can be designed by using PI controller. However, the critical part of speed controller is to calculate the PI parameters. The car-like robot kinematic model is used to define the current movement coordinate of the robot based on the linear velocity from speed controller, and the fixed steering angle is set to be 30o. Moreover, this fixed 30o steering angle is made the robot turn left for 30o. By doing the simulation and real-time testing for the proposed methods, the final result can be obtained. The speed controller is successfully designed which provides a stable velocity to the system. The car-like robot kinematic model is also successfully implemented on the robot, but the improvement of this model is needed in order to make it more accurate. 2017 Thesis NonPeerReviewed application/pdf en http://eprints.usm.my/39523/1/TOP_SOKUNPHAL_24_Pages.pdf Top , Sokunphal (2017) Velocity Control Of A Car-Like Mobile Robot. Masters thesis, Universiti Sains Malaysia.
institution Universiti Sains Malaysia
building Hamzah Sendut Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Sains Malaysia
content_source USM Institutional Repository
url_provider http://eprints.usm.my/
language English
topic TK1-9971 Electrical engineering. Electronics. Nuclear engineering
spellingShingle TK1-9971 Electrical engineering. Electronics. Nuclear engineering
Top , Sokunphal
Velocity Control Of A Car-Like Mobile Robot
description The velocity control is a very important component for every mobile robot. This velocity control will provide a stable velocity to the system, and increase the ability of calculation the movement coordinate of the mobile robot. Meanwhile, the velocity control of a car-like mobile robot is a main title in this dissertation. The main purpose of the velocity control of a car-like mobile robot is to design speed controller and apply the car-like robot kinematic model in order to obtain the current movement coordinate of the robot. There are some procedures to achieve the objective of this project such as to verify DC motor model, design the speed controller based on PI controller, and implement with car-like robot kinematic model. The DC motor model can be verified based on real-time experiment. The speed controller can be designed by using PI controller. However, the critical part of speed controller is to calculate the PI parameters. The car-like robot kinematic model is used to define the current movement coordinate of the robot based on the linear velocity from speed controller, and the fixed steering angle is set to be 30o. Moreover, this fixed 30o steering angle is made the robot turn left for 30o. By doing the simulation and real-time testing for the proposed methods, the final result can be obtained. The speed controller is successfully designed which provides a stable velocity to the system. The car-like robot kinematic model is also successfully implemented on the robot, but the improvement of this model is needed in order to make it more accurate.
format Thesis
author Top , Sokunphal
author_facet Top , Sokunphal
author_sort Top , Sokunphal
title Velocity Control Of A Car-Like Mobile Robot
title_short Velocity Control Of A Car-Like Mobile Robot
title_full Velocity Control Of A Car-Like Mobile Robot
title_fullStr Velocity Control Of A Car-Like Mobile Robot
title_full_unstemmed Velocity Control Of A Car-Like Mobile Robot
title_sort velocity control of a car-like mobile robot
publishDate 2017
url http://eprints.usm.my/39523/1/TOP_SOKUNPHAL_24_Pages.pdf
http://eprints.usm.my/39523/
_version_ 1643709676480626688
score 13.211869

Similar Items