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Title: Speed and position control of autonomous mobile robot on variable trajectorydepending on its curvature
Authors: Gunes, Mahit
Baba, A Fevzi
Keywords: Autonomous mobile robot
Fuzzy edge detection
Position control
Speed control
Issue Date: Jun-2009
Publisher: CSIR
Abstract: This paper presents design of autonomous mobile robot MBR-01 for speed and position control on variable trajectorydepending on trajectory curvature. MBR-01 can communicate reciprocally with host computer using RF data transceiver. Roaddata image is captured by CCD camera mounted on vehicle and transferred to host computer using RF data link unit. Applyingimage processing on trajectory, reference speed has been produced depending on curvature of trajectory. Reference speed isapplied to fuzzy controller unit and output is sent to vehicle by wireless transmitter unit. Received control signal by vehicle istransferred to DC motor drive system with Pulse Width Modulation techniques. Position control is realized by microprocessorbasedunits mounted on vehicle. Equipped 7 optical sensors detect trajectory deviation and wheel angle of vehicle for trackdetection and wheel angle detector unit.
Description: 513-521
ISSN: 0022-4456
Appears in Collections:JSIR Vol.68(06) [June 2009]

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