重庆理工大学学报（自然科学版）2017，Vol.31Issue(6)：70-77,8.DOI:10.3969/j.issn.1674-8425(z).2017.06.010
基于Arduino的轮式移动机器人速度控制模式比较
Comparison of Speed Control Modes of Wheeled Mobile Robot Based on Arduino
摘要
Abstract
Currently the control of wheeled mobile robot based on Arduino is dealt with the IDE programming environment.Under the environment,the program is difficult to read and debug,and it is also complex to use the advanced control algorithm.In order to overcome the above defects,two kinds of speed control modes are proposed.The first mode is offline mode,and the control model of host computer is downloaded to the Arduino controller for operation,and the returned data is monitored in real time through the graphical interface of Simulink.The second mode is online mode,the speed and other signals collected from the Arduino controller are returned to the host computer to process.The processed data is fed back to the Arduino controller to control the wheeled mobile robot.Two control modes are compared by PID algorithm under real robot condition.Test results show that the speed can all be accurately controlled in the two modes,online mode has better speed tracking accuracy and response speed.关键词
轮式移动机器人/Arduino/速度控制/PID算法Key words
wheeled mobile robot/Arduino/speed control/PID algorithm分类
计算机与自动化引用本文复制引用
王凯正,林棻,张华达,张会琪..基于Arduino的轮式移动机器人速度控制模式比较[J].重庆理工大学学报（自然科学版）,2017,31(6):70-77,8.基金项目
中央高校基本科研业务费专项资金资助项目(NS2015015) （NS2015015）
中国博士后科学基金资助项目(2016M601799) （2016M601799）
南京航空航天大学研究生创新基地(实验室)开放基金资助项目(kfjj20160207,20170215) （实验室）
