development of pid controller for autonomous mecanum wheel robot with tracing and collision...
TRANSCRIPT
Development of PID controller for Autonomous Mecanum Wheel
Robot with Tracing and Collision Avoidance Properties (Holobot)
Cole Perrault
Spring 2015
ET 493
Wesley Deneke
Autonomous System PID System
Holobot
Microcontroller Motor Shield H-Bridge DC Motor Mecanum Wheels Color Sensor Distance Sensor 12 V Battery
Calculations Implementing Analysis Conclusion
Autonomous System
PID System
Motivation
Implement PID system for personal development – learn something
Have a platform to be used by future students – teach others
Implement small research and development for the stability in systems – perform research
Contribution to the school for future interests – school merit
Methodology
Current Accomplishments Future Goals
Accomplishments
Peripherals Research DC Motor Research Voltage Regulation Transfer Function
Equations
Building the Holobot Coding the Holobot Testing the Holobot Implementation of PID Testing of PID
Deliverables PowerPoint Presentation……………………………………...…April 1 Platform……………………………………………………………...TBD Mathematical Methods Sheet…………………………………….May 6 Test each Peripheral………………………………………………April 2 Code………………………………………….……...…………….April 2 Build Holobot……………………………………..…..……….Summer
2015 Test Holobot………………………………………………Summer/Fall
2015 Implementation of PID……………………………………..............Fall
2015 Testing of PID…………………………………………….……Fall 2015
Holobot
Cole Perrault
Spring 2015
ET 493
Wesley Deneke