基于PID的移动机器人运动控制系统设计与实现

doi:10.11959/j.issn.1000-436x.2016246

Abstract

Abstract:

A kind of motion control system of the autonomous mobile robot was introduced,and a PID closed-loop control method was proposed that controlling the robot moving along the expected direction and speed effectively through establishing the kinematics model of the autonomous mobile robot.In addition,the modular software program and the hardware system were developed whose main components were the STC12C5A60S2 microprocessor,the MC33886 motor driver chip and hall sensors.Finally,experiments proves the control method and the system effective and stable.

Key words: autonomous mobile robot, PID, motion control, velocity-response curve

Xiao-ping DU,Kai-qi ZHAO. Design and implementation of the motion control system of the mobile robot based on PID[J]. Journal on Communications, 2016, 37(Z1): 43-49.

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