Design of a differential-drive wheeled robot controller with pulse-width modulation
This paper presents mobile robots motion control technique based on pulse-width modulation (PWM). This technique is employed on AMiR which is an autonomous miniature robot for swarm robotic platform. That uses differential drive with a caster wheel configuration. Robot’s motors enable to work with d...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
IEEE
2009
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| Online Access: | http://psasir.upm.edu.my/id/eprint/45830/ http://psasir.upm.edu.my/id/eprint/45830/1/Design%20of%20a%20differential-drive%20wheeled%20robot%20controller%20with%20pulse-width%20modulation.pdf |
| _version_ | 1848850544390569984 |
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| author | Arvin, Farshad Samsudin, Khairulmizam Nasseri, M. Ali |
| author_facet | Arvin, Farshad Samsudin, Khairulmizam Nasseri, M. Ali |
| author_sort | Arvin, Farshad |
| building | UPM Institutional Repository |
| collection | Online Access |
| description | This paper presents mobile robots motion control technique based on pulse-width modulation (PWM). This technique is employed on AMiR which is an autonomous miniature robot for swarm robotic platform. That uses differential drive with a caster wheel configuration. Robot’s motors enable to work with different speed in different direction, forward and reverse. A microcontroller as the main processor is deployed to generate motor control pulses and manage duty-cycle of PWM signals. Two methods in robot trajectory control which are rotation and straight movement are described in this paper. Time estimation and also speed selection calculations illustrate the feasibility of this technique to be used in mobile robot motion control problem. |
| first_indexed | 2025-11-15T10:07:58Z |
| format | Conference or Workshop Item |
| id | upm-45830 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T10:07:58Z |
| publishDate | 2009 |
| publisher | IEEE |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-458302020-08-10T02:20:55Z http://psasir.upm.edu.my/id/eprint/45830/ Design of a differential-drive wheeled robot controller with pulse-width modulation Arvin, Farshad Samsudin, Khairulmizam Nasseri, M. Ali This paper presents mobile robots motion control technique based on pulse-width modulation (PWM). This technique is employed on AMiR which is an autonomous miniature robot for swarm robotic platform. That uses differential drive with a caster wheel configuration. Robot’s motors enable to work with different speed in different direction, forward and reverse. A microcontroller as the main processor is deployed to generate motor control pulses and manage duty-cycle of PWM signals. Two methods in robot trajectory control which are rotation and straight movement are described in this paper. Time estimation and also speed selection calculations illustrate the feasibility of this technique to be used in mobile robot motion control problem. IEEE 2009 Conference or Workshop Item PeerReviewed text en http://psasir.upm.edu.my/id/eprint/45830/1/Design%20of%20a%20differential-drive%20wheeled%20robot%20controller%20with%20pulse-width%20modulation.pdf Arvin, Farshad and Samsudin, Khairulmizam and Nasseri, M. Ali (2009) Design of a differential-drive wheeled robot controller with pulse-width modulation. In: 2009 Conference on Innovative Technologies in Intelligent Systems and Industrial Applications (CITISIA 2009), 25-26 July 2009, Monash University, Sunway campus, Malaysia. (pp. 143-147). 10.1109/CITISIA.2009.5224223 |
| spellingShingle | Arvin, Farshad Samsudin, Khairulmizam Nasseri, M. Ali Design of a differential-drive wheeled robot controller with pulse-width modulation |
| title | Design of a differential-drive wheeled robot controller with pulse-width modulation |
| title_full | Design of a differential-drive wheeled robot controller with pulse-width modulation |
| title_fullStr | Design of a differential-drive wheeled robot controller with pulse-width modulation |
| title_full_unstemmed | Design of a differential-drive wheeled robot controller with pulse-width modulation |
| title_short | Design of a differential-drive wheeled robot controller with pulse-width modulation |
| title_sort | design of a differential-drive wheeled robot controller with pulse-width modulation |
| url | http://psasir.upm.edu.my/id/eprint/45830/ http://psasir.upm.edu.my/id/eprint/45830/ http://psasir.upm.edu.my/id/eprint/45830/1/Design%20of%20a%20differential-drive%20wheeled%20robot%20controller%20with%20pulse-width%20modulation.pdf |