Wi-Fi Control of Mobile Robot Motion Types Based on Differential Drive Kinematics Modelling Approach

Yıl 2016, Special Issue (2016), 170 - 173, 01.12.2016

Ercan Taskiran Yilmaz Durna Hasan Kocer

https://doi.org/10.18100/ijamec.269422

Cited By: 1

Öz

Recently, utilization of mobile robots has increased substantially.
Accordingly, wireless communication is preferred in mobile robots. QBot 2 is an
autonomous ground robot which is a new product of Quarc. The QBot 2 utilizes an
onboard data acquisition card and a wireless embedded computer to measure the
onboard sensors and drive motors. In this study, QBot 2 mobile robot is
evaluated in terms of its ability to maneuver. In this way, controlling QBot 2
mobile robot in real time is planned while a command recognition system is
developed. Connection with the QBot 2 is carried out in a wireless environment.
A Simulink model is developed in MATLAB® environment. The created model is
built with Quarc control software. Compiled model is downloaded with TCP/IP
connection to QBot 2 and the application is carried out on an embedded
computer. The QBot 2 mobile platform consists of two central drive wheels
mounted on a common axis. This drive configuration is known as differential
drive. The two drive wheels are independently driven forward and backward in
order to actuate the robot. Motion of the wheels is realized using high
performance DC motors. When the results are analyzed, 13 different motion types
are observed in total. The observed motion types could be used as references in
future works since many practical applications, such as the remote control of
QBot 2 mobile robot via the human voice, require the availability of different
motion types.

Anahtar Kelimeler

Intelligent robotic systems, Mobile robots, Wi-Fi based remote control.

Kaynakça

• Quanser Inc., QBOT 2 Workbook – Student, 2015
• M. Hadi Amoozgar, "Development of Fault Diagnosis and Fault Tolerant Control Algorithms with Application to Unmanned Systems", Concordia University, Canada, 2012.
• Quanser Inc.,QBOT 2 - User Manual, 2015
• Quanser Inc., Q BALL 2 Workbook, 2015
• R. Siegwart, I.R. Nourbakhsh, D. Scaramuzza. 2011. Introduction to Autonomus Mobile Robots. MIT Press, Cambridge, Massachusetts, USA.
• Gregory Dudek and Michael Jenkin. 2000. Computational Principles of Mobile Robotics. Cambridge University Press, New York, NY, USA