NDLI: Wheel angular velocity stabilization using rough encoder data

Content Provider	IEEE Xplore Digital Library
Author	Sotnikova, M. Veremey, E. Zhabko, N.
Copyright Year	2014
Description	Author affiliation: Dept. of Comput. Applic. & Syst., St.-Petersburg State Univ., St. Petersburg, Russia (Sotnikova, M.; Veremey, E.; Zhabko, N.)
Abstract	The paper is devoted to the problem of wheel angular velocity stabilization using encoder data. The differential drive robot with four wheels is used as a mobile robot. The left wheels and right wheels are controlled separately. This allows robot to move forward or backward if we apply equal control signal for both sides' wheels, or to turn left or right if the control for left and right wheels is different. It is well-known that for differential drive robots the robot wheels angular velocity is slightly different even if the same control input is applied for left and right wheels. This lead to the arc trajectories of the robot instead of straight lines. To overcome this problem it's necessary to use some internal low-level controller for wheels angular velocity stabilization. In order to stabilize angular velocity we need estimation of its current value, which can be obtained using encoder data. The algorithm for angular velocity estimation and stabilization using rough encoder data is proposed. The simulation study and practical real-time implementation for a particular differential drive robot are presented using Matlab and Arduino environment.
Starting Page	1345
Ending Page	1350
File Size	847148
Page Count	6
File Format	PDF
ISSN	20937121
e-ISBN	9788993215076
DOI	10.1109/ICCAS.2014.6987765
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Control, Robotics and Systems (ICROS)
Subject Keyword	differential drive robot Tracking loops Voltage measurement wheel angular velocity stabilization Estimation Wheels Real-time systems Mobile robots encoder data Oscillators
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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