<abstract xmlns="http://www.w3.org/1999/xhtml"><p>In this paper, the implementation and tuning steps of the PID controllers were proposed for the position control of a mobile robot with differential steering. The purpose of this robot was the participation in a European amateur robotics contest, the mobile robot being developed in the Engineering Faculty of Sibiu, Department of Industrial Machines and Equipment. After a brief introduction of the mobile entertainment robot, followed by description of the robot’s different components and traction principles, several principles of tuning the PID controller for the mobile robot are presented. The paper ends with some general conclusions based upon the results obtained from studying the research and considering all the ideas that were introduced.</p></abstract>

In this paper, the implementation and tuning steps of the PID controllers were proposed for the position control of a mobile robot with differential steering. The purpose of this robot was the participation in a European amateur robotics contest, the mobile robot being developed in the Engineering Faculty of Sibiu, Department of Industrial Machines and Equipment. After a brief introduction of the mobile entertainment robot, followed by description of the robot’s different components and traction principles, several principles of tuning the PID controller for the mobile robot are presented. The paper ends with some general conclusions based upon the results obtained from studying the research and considering all the ideas that were introduced.

Position Control of a Mobile Robot through PID Controller

Faculty of Engineering/Department of Industrial Machines and Equipment

Acta Universitatis Cibiniensis. Technical Series

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

{"article-title":"Position Control of a Mobile Robot through PID Controller"}

In this paper, the implementation and tuning steps of the PID controllers were proposed for the position control of a mobile robot with differential steering....

Position Control of a Mobile Robot through PID Controller

Published Online: Dec 31, 2019

Page range: 14 - 20

DOI: https://doi.org/10.2478/aucts-2019-0004

Keywords
Differential wheeled robot, Position control, Odometry, PID tuning

© 2019 Alexandru Bârsan, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Position Control of a Mobile Robot through PID Controller

Published Online: Dec 31, 2019

Page range: 14 - 20

DOI: https://doi.org/10.2478/aucts-2019-0004

KeywordsDifferential wheeled robot, Position control, Odometry, PID tuning

© 2019 Alexandru Bârsan, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
Differential wheeled robot, Position control, Odometry, PID tuning