DefinePK

Abstract

The movement of a wheeled mobile robot (WMR) is provided by motors, however, it is hard to control and predict the motors speed. A cascade Proportional, Integration, and Derivation (PID) controller is presented in this study to achieve the purpose of motors speed controlling. In order to test the controller, a differential drive wheeled mobile robot (DWMR) platform is used. The platform is integrated with decision making algorithm (DMA) for the case of wall-following to test the capability of the controllers in different situations. Through the results illustrated, it shows that the cascade PID controller promises a good performance with low average error in controlling the motors to reach the desired speed.