Motion planning system on an autonomous differential wheeled robot using PIC18F4550
This paper presents design and development of motion planning system for an autonomous mobile robot that would find the shortest travelling path to reach its goal. Motion planning system is a system used in robotics for the process of detailing a task into discrete motions. Since there are disadvant...
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| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Published: |
2012
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/6112/ http://eprints.uthm.edu.my/6112/1/Motion_Planning_System_on_an_Autonomous_Differential.pdf |
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| Summary: | This paper presents design and development of motion planning system for an autonomous mobile robot that would find the shortest travelling path to reach its goal. Motion planning system is a system used in robotics for the process of detailing a task into discrete motions. Since there are disadvantages by implementing only one type of movement algorithm on an autonomous mobile robot, such the longer travel time taken by line follower and accuracy movement result by dead reckoning a motion planning system is designed in order to enhance the robot movement more effectively especially for a competition. An autonomous robot base of ROBOCN (ABU Robot Contest) was used as hardware testing. This project was carried on by designing a PID line follower and dead reckoning algorithm. Nevertheless, the motion planning system was designed to combine these two algorithm. As the outcomes to this project, there is a printed circuit board (PCB) of PIC15F4550 microcontroller designed to support the motion planning system. In Addition, the motion planning system was sucessfully implemented on the autonomous mobile robot by combining the two types of movement algorithms. |
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