Sliding mode control of a line following robot
- PDF / 1,797,804 Bytes
- 13 Pages / 595.276 x 790.866 pts Page_size
- 100 Downloads / 213 Views
(2020) 42:561
TECHNICAL PAPER
Sliding mode control of a line following robot Huseyin Yildiz1 · Nuray Korkmaz Can2 · Omur Can Ozguney2 · Nurkan Yagiz2 Received: 17 June 2020 / Accepted: 25 September 2020 © The Brazilian Society of Mechanical Sciences and Engineering 2020
Abstract Line following robots have ability to track a given path autonomously using feedback mechanisms. The path is usually a black line on a white surface or a white line on a black surface. Today, line following robots are used in medical, industrial and automotive industries. Therefore, the studies on the line following robots have been increased recently. In this study, a robust, non-chattering sliding mode control (SMC) is designed and applied for a line following robot. The mobile robot is designed to sense the straight or curved path with its infrared sensors mounted on the robot. Therefore, these infrared sensors provide continuous streaming of the defined path to guide or direct changes in robot by activating motors on right wheel or/ and left wheel. The control strategy is curial to track complex paths accurately and to have a fast, stable and accurate line following robot. Thus, for comparison, conventional proportional-integral-derivative (PID) is also applied to robot. The main purpose of this study is to investigate performance of sliding mode control during path tracking. For this, numerical solution and experimental study were carried out. From the results, it was understood that sliding mode controller is highly efficient in tracking the path. Keywords Line following robot · Sliding mode control · PID control · Experimental study
1 Introduction Line following robots have been used frequently in medical, educational, industrial and entertainment fields in recent years. Punetha et al. [1] designed a line following robotbased health care management system. Their line following robot carried medicines to the patients via following the line drawn on the floor whenever they pressed the switch. Their aim is to develop a safe, efficient and patient-centred
Technical Editor: Adriano Almeida Gonçalves Siqueira. * Omur Can Ozguney [email protected] Huseyin Yildiz [email protected] Nuray Korkmaz Can [email protected] Nurkan Yagiz [email protected] 1
Department of Mechanical and Metal Technologies, Istanbul University, Cerrahpasa, Istanbul 34500, Turkey
Department of Mechanical Engineering, Istanbul University, Cerrahpasa, Istanbul 34320, Turkey
2
health care management system for decreasing the cost of health care and providing continuous monitoring of the patients. Illias et al. [2] constructed a mobile robot which follows the nurse, carry load and medical equipment during daily routines of nurses. Since hospital nurses bring instruments, medicines or meals using cart, this can be tiresome for nurses. Thus, their research focused on development of hardware and sensor integration for nurse following robot. It was found that the proposed robot was suitable for hospital daily usage. Si
Data Loading...
