Motor Speed Synchronization of Mobile Robot Using PI Controller

Abstract

Mobile robots due to their ability of movement have proven to find their applications in different fields over the years. Their applications in different fields are due to easy design and manufacturing of the custom platform. Manufacturing of the custom chassis/platforms may result in synchronization issue of motors resulting in detouring of the robot chassis from the path or complexity of the algorithm. To address this issue, design and tuning of a PI controller for a custom built three wheeled mobile robot for synchronization of the motors is discussed in this paper. Results achieved are very close to the desired response of the motors to move the mobile robot in a straight path. Paper highlights the method of designing and tuning a PI controller for wheeled mobile robots.