PID for Locomotion of an Autonomous Multi-Wheeled Robot Using a Six Axis Gyroscope
Abstract
This research paper
is based on the regular problem that occurs in the locomotion of an autonomous
multi-wheeled robot. We frequently observe that an autonomous robot is unable
to traverse on a specified path to its target location; that is its locomotion
has many errors. This problem usually occurs due to asymmetrical mechanical
structures, or faults in assembling or manufacturing, or errors in electronic
modules that cause imbalanced current distribution to the actuators; also this
happens due to unbalanced load on the robot. This problem can be countered and
reduced by using the concept of PID. PID takes input from a sensor which acts
as the feedback about the position and orientation of the robot and computes
the appropriate values of P, I and D and according to that the output is given
to the connected actuators which indeed reduces the error and brings the robot
on its programmed path. In this paper uses a Six Axis Gyroscope as the sensor
which gives the feedback of the current position of the robot to the
microcontroller and by using the concept of PID the error is reduced.
Country : India
1 Neerudu Uma Maheshwari
Associate Professor, Department of Electronics and Communication Engineering, Malla Reddy College of Engineering for Women, Hyderabad -500100, Telangana, India
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