| Issue |
E3S Web Conf.
Volume 87, 2019
1st International Conference on Sustainable Energy and Future Electric Transportation (SeFet 2019)
|
|
|---|---|---|
| Article Number | 01028 | |
| Number of page(s) | 4 | |
| DOI | https://doi.org/10.1051/e3sconf/20198701028 | |
| Published online | 22 February 2019 | |
Path tracking mobile robot using steppers
1 School of Electrical Engineering Vellore Institute of Technology, Vellore
2 School of Mechanical Engineering Vellore Institute of Technology, Vellore
3 Associate professor Vellore Institute of Technology
* Corresponding author: ankitdeo7@gmail.com
In control of mobile robots, precision plays a key role in path tracking. In this paper we have intended to use hybrid stepper motors for precise control of the two wheeled robot. A control algorithm was developed to control the robot along different trajectories. We have found that stepper motors are more accurate for path tracking than normal DC motors with wheel encoders and one can obtain the implicit coordinates of the robot in runtime more precisely. Getting the precise coordinates of the robot at runtime can be used in various SLAM and VSLAM techniques for more accurate 3D mapping of the environment.
© The Authors, published by EDP Sciences, 2019
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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