Development of PID controller for Autonomous Mecanum Wheel Robot with Tracing and Collision Avoidance Properties (Holobot) Cole Perrault Spring 2015 ET 493 Wesley Deneke
Autonomous SystemPID System Holobot Microcontroller Motor Shield H-Bridge DC Motor Mecanum Wheels Color Sensor Distance Sensor 12 V Battery Calculations Implementing Analysis Conclusion
Autonomous System
PID System
Motivation Implement PID system for personal development – learn something Have a platform to be used by future students – teach others Implement small research and development for the stability in systems – perform research Contribution to the school for future interests – school merit
Methodology
Current AccomplishmentsFuture Goals Accomplishments Peripherals Research DC Motor Research Voltage Regulation Transfer Function Equations Building the Holobot Coding the Holobot Testing the Holobot Implementation of PID Testing of PID
Deliverables PowerPoint Presentation……………………………………...…April 1 Platform……………………………………………………………...TBD Mathematical Methods Sheet…………………………………….May 6 Test each Peripheral………………………………………………April 2 Code………………………………………….……...…………….April 2 Build Holobot……………………………………..…..……….Summer 2015 Test Holobot………………………………………………Summer/Fall 2015 Implementation of PID…………………………………… Fall 2015 Testing of PID…………………………………………….……Fall 2015
Holobot Cole Perrault Spring 2015 ET 493 Wesley Deneke