Design and optimization of motion control for autonomous scrubber robot

Wan Jusoh, Wan Ahmad Izuddin and Mohd Razib, Mohd Asyraf and Md Nor, Khairul Affendy and Zainal Abidin, Zulkifli (2024) Design and optimization of motion control for autonomous scrubber robot. In: 9ᵗʰ INTERNATIONAL CONFERENCE ON MECHATRONICS ENGINEERING (ICOM’24), 13-14 August 2024, Gombak.

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Abstract

This work describes the preliminary design and development of an autonomous scrubber robot with the compatibility of the robot operating system (ROS). In the development of autonomous robots, the critical challenge lies in devising an advanced motion control system that can mitigate inherent uncertainties, such as wheel asymmetry, sensor inaccuracies, and external disturbances, to ensure precise and consistent robot movement, especially in tasks requiring straight-line trajectories. The utilization of the PID algorithm enables the accurate control of the speed of two brushless DC motors in the autonomous scrubber robot. The system architecture incorporates an Arduino Mega 2560 microcontroller board, along with the integration of a two-axis gyroscope and accelerometer for determining the system's orientation. The integration of Advanced Monte Carlo Localization (AMCL) within the ROS framework enhances the system's ability to accurately determine the robot's pose by leveraging probabilistic methods and real-time sensor data integration. During the experiments, a noticeable trend emerged in the observed error percentages as the robot's covered distance increased. Experimental results demonstrate the machine's ability to maneuver flexibly, including straight-line movements.

Item Type:	Proceeding Paper (Other)
Uncontrolled Keywords:	autonomous robot, scrubber robot, PID controller, Robot Operating System (ROS)
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ181 Mechanical movements
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr Mohd Asyraf Mohd Razib
Date Deposited:	11 Sep 2024 14:53
Last Modified:	11 Sep 2024 14:53
URI:	http://irep.iium.edu.my/id/eprint/114385

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