Orientation and Path Regain Algorithm for Synchronous Drive Robot

Under normal circumstances, Synchronous drive robots hold orientation of their body with respect to ground. But this can be lost during motion due to sudden change intraction, error in angular velocities of the wheel or wheel misalignment. This paper mainly focuses on an algorithm for correction in the orientation of the robot at any arbitrary direction of motion and also to gain back the original path loss due to various errors mentioned above. The co-ordinates and direction of motion for the robot are derived by the use of a deduced reckoning algorithm. While the orientation of the robot is constantly measured by a gyroscope. Any change in the orientation of robot and deviation from the targeted trajectory will be corrected by a change in individual wheel speed followed by tracing back the original path. The proposed algorithm was tested on a robot running on a wooden floor.