Control Position of Mobile Robot Based on Odometry Method and PID Controller

Abstract

Abstract A mobile robot had been made based on kinematics drive differential concept. This robot used odometry method in order to reach a position and determine its current position. Proportional Integral Derivative (PID) control has been applied for improving response of robot while it reach a detremined position. Two rotary encoder sensors were attached at right and left side of robot motors for measuring distance. While motor rotating, rotary encoder sensors counted a number of pulses conversed into left and right wheel mileage. Both of them were used to get robot position at certain time (x, y, and heading angle). Robot passed some tracks and reached two positions in each track as destination positions. These positions are the position which had final heading 30° and 90°on first track, 45° and 90° on second track, 60° and 90° on third track. PID control was examined by put mobile robot in first position 0,0,0°. Some PID parameters have been applied to examine the performance and response of robot. The increment of derivative parameter reduced the steady state error and increased the stability of system.