development of pid controller for autonomous mecanum wheel robot with tracing and collision...

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