Design of Petri net-based control system for dual-wheel-driving mobile robot

Author

You, Bo ; Li, Dongjie ; Qiu, Jiangyan

Author_Institution

Coll. of Autom., Harbin Univ. of Sci. & Technol., Harbin

fYear

2008

fDate

25-27 June 2008

Firstpage

4837

Lastpage

4841

Abstract

The driving speed of mobile robot is always inaccurate driven by low performance DC motor and low resolution encoder in PWM way. For this reason, the event-driven dual-driving-wheel synchronization control model is established based on Petri net. The forward and inverse formulas of the azimuth for dual-wheel-driving mobile robot in discrete form are deduced. The specific realization algorithm is given at last. Experimental results show this model has obvious advantage in speed and position control using the proposed synchronization control model, especially when the robot moves along straight line and the speed difference of two driving wheels is small.

Keywords

Petri nets; control system synthesis; mobile robots; position control; velocity control; Petri net-based control system; dual-wheel-driving mobile robot; event-driven dual-driving-wheel synchronization control; position control; realization algorithm; speed control; Azimuth; Control systems; DC motors; Design automation; Intelligent control; Mobile robots; Pulse width modulation; Robot kinematics; Robotics and automation; Wheels; Event-driven; Mobile robot; Petri net;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4593708

Filename

4593708