摘要

Based on magnetic navigation, a novel tracking mobile robot system is developed for unmanned vehicle applications. The system is mainly composed of four modules, namely detection, driving, control, and communication. The control module will analyse signals collected by the detection module, while the driving module controls the direction of the front wheels and the speed of the rear wheels. The system is able to achieve effective electromagnetic signal data collection using a newly designed I-inductor and the packaged data is then transmitted to controller through a serial to Bluetooth wireless module. The mobile robot speed is regulated by a closed-loop controller which can quickly transmit the data collected by the encoder to the controller, and a fuzzy PID controller is used to effectively adjust the speed of the mobile robot tracking. The experimental results show that the developed mobile robot can rapidly track the designed trajectory.

  • 出版日期2016
  • 单位Queen's University Belfast

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