Design and Experimental Validation of an Effective Controller for Autonomous Differential Wheeled Robots

Yıl 2025, Cilt: 15 Sayı: 1, 362 - 381, 15.03.2025

Osman Ünal

https://doi.org/10.31466/kfbd.1564085

Öz

This research focuses on the control of differential wheeled robots and aims to develop a new, practical controller inspired by the well-known PID controller. The primary challenge with traditional PID controllers lies in the difficulty of accurately optimizing the three key parameters (coefficients of Proportional, Integral and Derivative) through experimental trial and error. While numerical simulations offer solutions for parameter optimization, real-world factors such as friction losses, inconsistent current and voltage supply to the DC motors, and wheel slippage often prevent these optimized parameters from achieving the same effectiveness in physical systems. This study proposes a novel controller designed to address these challenges, simplifying the parameter tuning process to a single, easily adjustable variable. The new controller, while inspired by the PID approach, offers an effective alternative, overcoming the limitations posed by real-world conditions. It was implemented and tested on a differential wheeled robot specifically designed for this research. Experimental testing across various tasks demonstrated that the new controller provides stable and reliable control, making it a valuable alternative to traditional PID-based approaches.

Anahtar Kelimeler

Differential wheeled robots, PID controller, Simplified Controller Design

Diferansiyel Tekerlekli Otonom Robotlar için Etkili bir Denetleyicinin Tasarımı ve Deneysel Doğrulaması

Öz

Bu araştırma, diferansiyel tekerlekli robotların denetimine odaklanmakta ve yaygın olarak bilinen PID denetleyiciden esinlenerek yeni ve pratik bir denetleyici geliştirmeyi amaçlamaktadır. Geleneksel PID denetleyicideki temel zorluk, deneysel deneme yanılma yoluyla üç temel parametrenin (Orantı, İntegral ve Türev işlevlerine ait katsayılar) doğru bir şekilde optimize edilmesinin güçlüğünde yatmaktadır. Sayısal benzetimler parametre optimizasyonu için çözümler sunarken, sürtünme kayıpları, DC motorlara tutarsız akım ve voltaj beslemesi ve tekerlek kayması gibi fiziksel gerçek faktörleri, bu optimize edilmiş parametrelerin gerçek hayatta aynı etkinliğe ulaşmasını sıklıkla engellemektedir. Bu çalışma, parametre optimizasyon sürecini tek ve kolayca ayarlanabilir bir değişkene basitleştirerek bu zorlukları ele almak üzere tasarlanmış yeni bir denetleyici önermektedir. PID yaklaşımından esinlenen yeni denetleyici, gerçek dünya koşullarının getirdiği sınırlamaların üstesinden gelerek etkili bir alternatif sunmaktadır. Önerilen denetleyici, bu araştırma için özel olarak tasarlanmış diferansiyel tekerlekli bir robot üzerinde uygulanmış ve test edilmiştir. Çeşitli görevlerde yapılan deneysel testler, yeni denetleyicinin istikrarlı ve etkili denetim sağladığını ve onu geleneksel PID tabanlı yaklaşımlara göre değerli bir alternatif haline getirdiğini göstermiştir.

Anahtar Kelimeler

Diferansiyel tekerlekli robotlar, PID denetleyici, Sadeleştirilmiş Denetleyici Tasarımı

Kaynakça

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