Title :
Detection and control of a wheeled mobile robot based on magnetic navigation
Author :
Guan Sun ; Dan Feng ; Youtong Zhang ; Dongdong Weng
Author_Institution :
Beijing Inst. of Technol., Beijing, China
Abstract :
This paper introduces the design of a wheeled mobile robot based on magnetic navigation. The working principle of magnetic navigation is analyzed, and a novel navigation path detection algorithm is proposed. Meanwhile, the fuzzy control algorithm and PID algorithm are combined to optimize the control performance of the steering servo and the electric motor. The experimental results show the effectiveness of both the detection and the control algorithm. The wheeled mobile robot can trace the navigation path automatically and precisely at a high speed.
Keywords :
control system synthesis; fuzzy control; mobile robots; navigation; optimisation; path planning; servomechanisms; three-term control; PID algorithm; automatic navigation path tracing; control performance optimization; electric motor; fuzzy control algorithm; magnetic navigation; navigation path detection algorithm; steering servo; wheeled mobile robot control; wheeled mobile robot design; Inductors; Magnetic fields; Mobile robots; Navigation; Sensors; Wires; Control Algorithm; Magnetic Navigation; Path Detection Algorithm; Wheeled Mobile Robot;
Conference_Titel :
Control Conference (ASCC), 2013 9th Asian
Conference_Location :
Istanbul
Print_ISBN :
978-1-4673-5767-8
DOI :
10.1109/ASCC.2013.6606273
