Preferencje help
Widoczny [Schowaj] Abstrakt
Liczba wyników
Tytuł artykułu

Control of the mobile robot using controllers of types P, PI, PID

Treść / Zawartość
Warianty tytułu
Języki publikacji
The paper presents a method for control of a mobile robot. The task of the Line-follower was to cover the route set programmatically as accurately as possible using the controllers P, PI or PID without the use of sensors to detect the line. The work also consists of a description of the mobile robot development and the results of the experimental research with discussion.
Opis fizyczny
Bibliogr. 21 poz., rys., tab.
  • Institute of Mechanics and Machine Design Fundamentals, Czestochowa University of Technology Czestochowa, Poland
  • Institute of Mechanics and Machine Design Fundamentals, Czestochowa University of Technology Czestochowa, Poland
  • Kimla, ul. Bałtycka 30, Czestochowa, Poland
  • [1] Bolton, W. (2003). Mechatronics: Electronic control system in Mechanical and Electrical system. Prentice Hall.
  • [2] Ismail, A.H., Abdul Zaman, A.M., & Terashima, K. (2016). Fuzzy logic approach for line following mobile robot using an array of digital sensors. IJAIEM, 5(7), 108-115.
  • [3] Zhongsheng, H., & Yuanming, Z. (2013). Model based control and MFAC, which is better in simulation?. IFAC Proceedings Volumes, 46(13), 82-87.
  • [4] Dai, Y., & Lee, S.G. (2012). The leader-follower formation control of nonholonomic mobile robots. International Journal of Control, Automation and Systems, 10(2), 350-361.
  • [5] Maggio, M., Bonvini, M., & Leva, A. (2012). The PID+ p controller structure and its contextual autotuning. Journal of Process Control, 22(7), 1237-1245.
  • [6] Sun, L., Li, D., & Lee, K.Y. (2016). Optimal disturbance rejection for PI controller with constraints on relative delay margin. ISA Transactions, 63, 103-111.
  • [7] Zemliak, A. (2008). Frontiers in Robotics, Automation and Control. InTech.
  • [8] Gosim, N.W., Faisal, T., Al-Assadi, H.M.A.A., & Iwan, M. (2012). Pick and place ABB working with a liner follower robot. Procedia Engineering, 41, 1336-1342.
  • [9] Wochal, M., Wojcik, Ł., Zając, T., & Cekus D. (2012). The project of the Line-follower mobile robot. Proceedings of the V Interfaculty Seminar of Scientific Circles of Czestochowa University of Technology (Vol. I, pp. 123-127), (in Polish).
  • [10] Bueno, A.V., Velasquez, J.A., & Milanez, L.F. (2012). Internal combustion engine indicating measurements. Applied Measurement Systems. InTech. Available from:
  • [11] Datta, A., Mukherjee, D., & Saha, H. (2014). A dsPIC based novel digital sinusoidal pulsewidth modulation technique for voltage source inverter applications. Microprocessors and Microsystems, 38(7), 649-658.
  • [12] Peng, Z., Wen, G., Rahmani, A., & Yu, Y. (2013). Leader-follower formation control of nonholonomic mobile robots based on a bioinspired neurodynamic based approach. Robotics and Autonomous Systems, 61(9), 988-996.
  • [13] Borkowski, P. (2010). AVR i ARM7. Programowanie mikrokontrolerów dla każdego. Gliwice: Wydawnictwo Helion (in Polish).
  • [14] Murray, R.M. (2007). Recent research in cooperative control of multivehicle systems. Journal of Dynamic Systems, Measurement, and Control, 129(5), 571-583.
  • [15] Nartowicz, T. (2012). Design of Fractional Order Controller Satisfying Given Gain and Phase Margin for a Class of Unstable Plant with Delay. Acta Mechanica et Automatica, 6, 41-45.
  • [16] Lechevin, N., Rabbath, C.A., & Sicard, P. (2006). Trajectory tracking of leader-follower formations characterized by constant line-of-sight angles. Automatica, 42(12), 2131-2141.
  • [17] Roldao, V., Cunha, R., Cabecinhas, D., Silvestre, C., & Oliveira, P. (2014). A leader-following trajectory generator with application to quadrotor formation flight. Robotics and Autonomous Systems, 62(10), 1597-1609.
  • [18] Stania, M., Posiadała, B., & Stetter, R. (2010). Computer-aided design of mechatronic systems on the example of an autonomous transport vehicle. Transport Przemysłowy i Maszyny Robocze, 2(8), 86-92 (in Polish).
  • [19] Fax, J.A., & Murray, R.M. (2004). Information flow and cooperative control of vehicle formations. IEEE Transactions on Automatic Control, 49(9), 1465-1476.
  • [20] Ozbilge, E. (2016). On-line expectation-based novelty detection for mobile robots. Robotics and Autonomous Systems, 81, 33-47.
  • [21] Vapnik, V.N. (1998). Statistical Learning Theory Hardcover. New York: John Wiley & Sons.
Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).
Typ dokumentu
Identyfikator YADDA
JavaScript jest wyłączony w Twojej przeglądarce internetowej. Włącz go, a następnie odśwież stronę, aby móc w pełni z niej korzystać.