EXPERIMENTAL IN HEAD TRACKING CONTROL OF A FOUR OMNI WHEELED MOBILE ROBOT SYSTEM
نویسندگان
چکیده
This article describes an experimental investigation into the head tracking and control of a four-wheeled Omni-Robot. study described scheme omnidirectional mobile robot. Additionally, kinematics robot is presented., A with four Omni wheels was also developed on real hardware to verify controller architecture design. The system modeled then implemented Arduino Microcontroller. has two rotary encoders for running x-axis y-axis, respectively. gyro sensor (MPU-6050) placed in robot's middle tracks data obtained by yaw angle. MATLAB Simulink used find PD based manual adjustment. deployed complete run experiment evaluate outcomes. results show motion improvement various scenarios.
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ژورنال
عنوان ژورنال: Indonesian Journal of Engineering and Science
سال: 2022
ISSN: ['2774-373X']
DOI: https://doi.org/10.51630/ijes.v3i3.67