DEVELOPMENT OF DIRECTIONAL ALGORITHM FOR THREE-WHEEL OMNIDIRECTIONAL AUTONOMOUS MOBILE ROBOT
نویسندگان
چکیده
A The proposed system developed an omnidirectional algorithm to control autonomous mobile robots with three wheels. implementation consists of Planet DC motors rated power 80 W for wheels, encoders speed feedback, one encoder distance and digital compass sensor angle feedback. main STM32F407 microcontroller is designed directional wheels based the signal received from then controls subsystems adjust steering each wheel. sub-system built only motor wheel built-in proportional integral derivative controller (PID) by STM32F103 microcontroller. Furthermore, a PID From results has advantages: (1) auto position; (2) erase tracking line automobile robot; (3) cost-effectiveness high accuracy
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ژورنال
عنوان ژورنال: Vietnam Journal of Science and Technology
سال: 2021
ISSN: ['2525-2518']
DOI: https://doi.org/10.15625/2525-2518/59/3/15583