Two-Wheeled Robot Platform Based on PID Control

In recent years, the robotics industry has developed rapidly. Wheeled service robots have been used in many fields. This paper constructs a wheeled mobile robot based on two-wheeled drive, and designs the robot motion controller to realize the motion control of the robot. The control system includes a pair of DC motors, a driver board, a STM32 controller, and two Hall sensors. The Hall sensors are used for measuring the motor speed to realize a speed closed loop control. The PID algorithm is adopted to control the speed of two DC motors to achieve precise control of the speed of the mobile platform. The experiments exhibit that the wheeled mobile robot can move flexibly, such as straight-going or turning around.

I. Introduction

Mobile robot technology has been developed for nearly 50 years. In 1966–1972, Nils Nilssen and Charles Rosen et al of the Stanford Research Institute (SRI) developed an autonomous mobile robot named Shakey [1] that can recognize the environment and respond to different environments. With the rapid development of computers and sensor technology, the mobile robot industry has developed rapidly and the research interest has been increasing [2]. In the past decade, mobile robots have moved away from military and industrial environments into residential lives spaces such as hospitals, schools and so on.