Speed and position control of autonomous mobile robot on variable trajectorydepending on its curvature

Abstract

This paper presents design of autonomous mobile robot MBR-01 for speed and position control on variable trajectorydepending on trajectory curvature. MBR-01 can communicate reciprocally with host computer using RF data transceiver. Roaddata image is captured by CCD camera mounted on vehicle and transferred to host computer using RF data link unit. Applyingimage processing on trajectory, reference speed has been produced depending on curvature of trajectory. Reference speed isapplied to fuzzy controller unit and output is sent to vehicle by wireless transmitter unit. Received control signal by vehicle istransferred to DC motor drive system with Pulse Width Modulation techniques. Position control is realized by microprocessorbasedunits mounted on vehicle. Equipped 7 optical sensors detect trajectory deviation and wheel angle of vehicle for trackdetection and wheel angle detector unit.