Motor Speed Controller for Differential Wheeled Mobile Robot

The movement of a wheeled mobile robot (WMR) is provided by motors, however, it is hard to control and predict the motors speed. A cascade Proportional, Integration, and Derivation (PID) controller is presented in this study to achieve the purpose of motors speed controlling. In order to test the controller, a differential drive wheeled mobile robot (DWMR) platform is used. The platform is integrated with decision making algorithm (DMA) for the case of wallfollowing to test the capability of the controllers in different situations. Through the results illustrated, it shows that the cascade PID controller promises a good performance with low average error in controlling the motors to reach the desired speed.