标题：Two-Wheeled Robot Platform Based on PID Control
作者：Meng, Jie ;Liu, Anbang ;Yang, Yiqin ;Wu, Zhe ;Xu, Qingyang
作者机构：[Meng, J] School of Mechanical, Electrical and Information Engineering, Shandong University, Weihai, Shandong, China;[ Liu, A] School of Mechanical, E 更多
会议名称：5th International Conference on Information Science and Control Engineering, ICISCE 2018
会议日期：20 July 2018 through 22 July 2018
来源：Proceedings - 2018 5th International Conference on Information Science and Control Engineering, ICISCE 2018
关键词：Closed loop control; PID; Service robot; Two-wheeled robot
摘要：In recent years, the robotics industry has developed rapidly. Wheeled service robots have been used in many fields. This paper constructs a wheeled mobile robot based on two-wheeled drive, and designs the robot motion controller to realize the motion control of the robot. The control system includes a pair of DC motors, a driver board, a STM32 controller, and two Hall sensors. The Hall sensors are used for measuring the motor speed to realize a speed closed loop control. The PID algorithm is adopted to control the speed of two DC motors to achieve precise control of the speed of the mobile platform. The experiments exhibit that the wheeled mobile robot can move flexibly, such as straight-going or turning around. © 2018 IEEE.