Development of fuzzy pid cascade control system for differential-drive wheeled mobile robot

This study focuses on the control systems implementations of an intelligent autonomous mobile robot called Mobile Autonomous Robot (MAR). The robot is targeted for indoor usage, assume the role of a guide or security personnel in factories, warehouses, museums and offices. It has two driving wheels...

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Main Author:	Mohd Saifizi, Saidon
Format:	Thesis
Language:	English
Subjects:	PID controllers Mobile Autonomous Robot (MAR) Control systems implementations Intelligent autonomous mobile robot Wheeled mobile robot Cascade control system
Online Access:	http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/31166/1/page%201-24.pdf http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/31166/2/Full%20text.pdf
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record_format	uketd_dc
spelling	my-unimap-311662014-01-12T13:54:14Z Development of fuzzy pid cascade control system for differential-drive wheeled mobile robot Mohd Saifizi, Saidon This study focuses on the control systems implementations of an intelligent autonomous mobile robot called Mobile Autonomous Robot (MAR). The robot is targeted for indoor usage, assume the role of a guide or security personnel in factories, warehouses, museums and offices. It has two driving wheels powered by two independent motors for drive and steering respectively. Each DC motor is controlled by a pulse width modulation (PWM) motor controller. A cascade control system has been implemented to control the movement of the robot, and this consists of a master controller and two slave controllers for each DC motor. The master controller is a Fuzzy Logic Controller (FLC) which computes the required speed and angular speed needed by the two motors. A vision system is used as the sensor for the robot motion. Fuzzy logic is applied to generate target trajectory movement with the information extracted from vision system such as the distance of target and the orientation of target. The landmark selected is a door because the door is a very common objects in indoor environments and the detection of a door allows a robot to do tasks such as navigation and path planning. This work presents an approach using computer vision which applies Hough Transform and Feature Matching technique after the image has been process using Canny edge detector. The two slave controllers are Proportional-Integral-Derivative (PID) controllers which ensure the desired speeds are obtained at the wheels. Two methods are used in calculating proper values of the PID. These are experimental method and model based method. The experimental method uses the Zigler-Nichols autotuning method without any knowledge about the plant to be controlled. In the model based method a mathematical model of the motors are first derived and this is used to design the PID controller. PID controller parameters were tuned according to four ranges of speeds. The PID controller parameters for both DC motors are auto-tuned using Gain Scheduling based on four ranges of speeds. Comparison was made to see the performance of the mobile robot using the PID parameters tuned by the two methods. In this study, fuzzy logic is also applied to generate obstacle avoidance techniques with the information extracted from ultrasonic sensors. Overall performance of the robot when moving to the target shows that the average relative error is less than 0.03 meter for distance and the average relative error for orientation is about 20o when arrived at the robot achieves its target. The average time taken by the robot to arrive at the target in 1 meter is approximately 23 seconds. Universiti Malaysia Perlis (UniMAP) 2012 Thesis en http://dspace.unimap.edu.my:80/dspace/handle/123456789/31166 http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/31166/1/page%201-24.pdf 9b64366c58e5947022fcc0b82fa7672d http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/31166/2/Full%20text.pdf 1b014af8d77dfc223481dfe4062a8b3b http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/31166/3/license.txt 8a4605be74aa9ea9d79846c1fba20a33 PID controllers Mobile Autonomous Robot (MAR) Control systems implementations Intelligent autonomous mobile robot Wheeled mobile robot Cascade control system School of Mechatronic Engineering
institution	Universiti Malaysia Perlis
collection	UniMAP Institutional Repository
language	English
topic	PID controllers Mobile Autonomous Robot (MAR) Control systems implementations Intelligent autonomous mobile robot Wheeled mobile robot Cascade control system
spellingShingle	PID controllers Mobile Autonomous Robot (MAR) Control systems implementations Intelligent autonomous mobile robot Wheeled mobile robot Cascade control system Mohd Saifizi, Saidon Development of fuzzy pid cascade control system for differential-drive wheeled mobile robot
description	This study focuses on the control systems implementations of an intelligent autonomous mobile robot called Mobile Autonomous Robot (MAR). The robot is targeted for indoor usage, assume the role of a guide or security personnel in factories, warehouses, museums and offices. It has two driving wheels powered by two independent motors for drive and steering respectively. Each DC motor is controlled by a pulse width modulation (PWM) motor controller. A cascade control system has been implemented to control the movement of the robot, and this consists of a master controller and two slave controllers for each DC motor. The master controller is a Fuzzy Logic Controller (FLC) which computes the required speed and angular speed needed by the two motors. A vision system is used as the sensor for the robot motion. Fuzzy logic is applied to generate target trajectory movement with the information extracted from vision system such as the distance of target and the orientation of target. The landmark selected is a door because the door is a very common objects in indoor environments and the detection of a door allows a robot to do tasks such as navigation and path planning. This work presents an approach using computer vision which applies Hough Transform and Feature Matching technique after the image has been process using Canny edge detector. The two slave controllers are Proportional-Integral-Derivative (PID) controllers which ensure the desired speeds are obtained at the wheels. Two methods are used in calculating proper values of the PID. These are experimental method and model based method. The experimental method uses the Zigler-Nichols autotuning method without any knowledge about the plant to be controlled. In the model based method a mathematical model of the motors are first derived and this is used to design the PID controller. PID controller parameters were tuned according to four ranges of speeds. The PID controller parameters for both DC motors are auto-tuned using Gain Scheduling based on four ranges of speeds. Comparison was made to see the performance of the mobile robot using the PID parameters tuned by the two methods. In this study, fuzzy logic is also applied to generate obstacle avoidance techniques with the information extracted from ultrasonic sensors. Overall performance of the robot when moving to the target shows that the average relative error is less than 0.03 meter for distance and the average relative error for orientation is about 20o when arrived at the robot achieves its target. The average time taken by the robot to arrive at the target in 1 meter is approximately 23 seconds.
format	Thesis
author	Mohd Saifizi, Saidon
author_facet	Mohd Saifizi, Saidon
author_sort	Mohd Saifizi, Saidon
title	Development of fuzzy pid cascade control system for differential-drive wheeled mobile robot
title_short	Development of fuzzy pid cascade control system for differential-drive wheeled mobile robot
title_full	Development of fuzzy pid cascade control system for differential-drive wheeled mobile robot
title_fullStr	Development of fuzzy pid cascade control system for differential-drive wheeled mobile robot
title_full_unstemmed	Development of fuzzy pid cascade control system for differential-drive wheeled mobile robot
title_sort	development of fuzzy pid cascade control system for differential-drive wheeled mobile robot
granting_institution	Universiti Malaysia Perlis (UniMAP)
granting_department	School of Mechatronic Engineering
url	http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/31166/1/page%201-24.pdf http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/31166/2/Full%20text.pdf
_version_	1747836775834845184

Development of fuzzy pid cascade control system for differential-drive wheeled mobile robot

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