COBEM99

S22 Mecatrônica

Title:

VELOCITY CONTROL OF AN AUTONOMOUS MOBILE ROBOT - COMPARISON BETWEEN A PID AND A FUZZY CONTROL

Summary :

ABSTRACT: AN AUTONOMOUS MOBILE ROBOT DRIVEN WITH BATTERIES, TWO DRIVE WHEELS AND A STEERING WHEEL IS BEING DEVELOPED. THE ROBOT CENTRAL CONTROL IS DONE BY ONE IPC, WHICH CONTROLS EVERY FUNCTION OF SECURITY, STEERING, POSITIONING, LOCALIZATION AND DRIVING. EACH DRIVE WHEEL IS CONTROLLED BY A DC MOTOR, WITH CONTROL SYSTEM FOR EACH ONE. THE CONTROL SYSTEM IS COMPOSED OF ONE CHOPPER, ONE ENCODER AND ONE MICROCONTROLLER. THE IPC TRANSMITS TO PIC MICROCONTROLLER THE VELOCITY VALUES AND ACCELERATION RAMP VALUES. SINCE EACH DRIVE WHEEL CONTROL IS INDEPENDENT, IT S POSSIBLE TO OBTAIN DIFFERENT VALUES OF VELOCITY FOR EACH WHEEL VELOCITY. TWO DIFFERENT STRATEGIES FOR VELOCITY CONTROL WERE IMPLEMENTED, A PID AND A FUZZY LOGIC. THERE WERE NOT CHANGES IN CIRCUITS AND FEEDBACK CONTROL, BUT THE CHANGES APPEAR IN PIC MICROCONTROLLER SOFTWARE ONLY. COMPARING THE DIFFERENT VELOCITY CONTROL STRATEGIES, THE RESULTS WERE EQUIVALENT. HOWEVER, THE DEVELOPMENT AND IMPLEMENTATION OF PID CONTROL WERE MORE DIFFICULT THAN FUZZY CONTROL. INDEX TERMS: MOBILE ROBOT, FUZZY CONTROL, AUTOMATIC CONTROL

Author :

Biazotto, Valdir Marcelo
Junior, Roberto Souza
Júnior, Roberto Souza
Silveira, Paulo Eduardo

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