development of pid controller for autonomous mecanum wheel robot with tracing and collision...
TRANSCRIPT
![Page 1: Development of PID controller for Autonomous Mecanum Wheel Robot with Tracing and Collision Avoidance Properties (Holobot) Cole Perrault Spring 2015 ET](https://reader036.vdocuments.us/reader036/viewer/2022082820/56649e9c5503460f94b9cff9/html5/thumbnails/1.jpg)
Development of PID controller for Autonomous Mecanum Wheel
Robot with Tracing and Collision Avoidance Properties (Holobot)
Cole Perrault
Spring 2015
ET 493
Wesley Deneke
![Page 2: Development of PID controller for Autonomous Mecanum Wheel Robot with Tracing and Collision Avoidance Properties (Holobot) Cole Perrault Spring 2015 ET](https://reader036.vdocuments.us/reader036/viewer/2022082820/56649e9c5503460f94b9cff9/html5/thumbnails/2.jpg)
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
![Page 3: Development of PID controller for Autonomous Mecanum Wheel Robot with Tracing and Collision Avoidance Properties (Holobot) Cole Perrault Spring 2015 ET](https://reader036.vdocuments.us/reader036/viewer/2022082820/56649e9c5503460f94b9cff9/html5/thumbnails/3.jpg)
Autonomous System
![Page 4: Development of PID controller for Autonomous Mecanum Wheel Robot with Tracing and Collision Avoidance Properties (Holobot) Cole Perrault Spring 2015 ET](https://reader036.vdocuments.us/reader036/viewer/2022082820/56649e9c5503460f94b9cff9/html5/thumbnails/4.jpg)
PID System
![Page 5: Development of PID controller for Autonomous Mecanum Wheel Robot with Tracing and Collision Avoidance Properties (Holobot) Cole Perrault Spring 2015 ET](https://reader036.vdocuments.us/reader036/viewer/2022082820/56649e9c5503460f94b9cff9/html5/thumbnails/5.jpg)
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
![Page 6: Development of PID controller for Autonomous Mecanum Wheel Robot with Tracing and Collision Avoidance Properties (Holobot) Cole Perrault Spring 2015 ET](https://reader036.vdocuments.us/reader036/viewer/2022082820/56649e9c5503460f94b9cff9/html5/thumbnails/6.jpg)
Methodology
![Page 7: Development of PID controller for Autonomous Mecanum Wheel Robot with Tracing and Collision Avoidance Properties (Holobot) Cole Perrault Spring 2015 ET](https://reader036.vdocuments.us/reader036/viewer/2022082820/56649e9c5503460f94b9cff9/html5/thumbnails/7.jpg)
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
![Page 8: Development of PID controller for Autonomous Mecanum Wheel Robot with Tracing and Collision Avoidance Properties (Holobot) Cole Perrault Spring 2015 ET](https://reader036.vdocuments.us/reader036/viewer/2022082820/56649e9c5503460f94b9cff9/html5/thumbnails/8.jpg)
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
![Page 9: Development of PID controller for Autonomous Mecanum Wheel Robot with Tracing and Collision Avoidance Properties (Holobot) Cole Perrault Spring 2015 ET](https://reader036.vdocuments.us/reader036/viewer/2022082820/56649e9c5503460f94b9cff9/html5/thumbnails/9.jpg)
Holobot
Cole Perrault
Spring 2015
ET 493
Wesley Deneke