Controlling the Mobile Robot with the Pure Pursuit Algorithm to Tracking the Reference Path Sent from the Android Device

Ahmet Top

Makale detayları

Controlling the Mobile Robot with the Pure Pursuit Algorithm to Tracking the Reference Path Sent from the Android Device

Yazarlar:

Ahmet Top

Yayıncı:

Dicle University

Ana Başlıklar:

Akıllı Robotik | Modelleme ve Simülasyon | Bilgisayar Yazılımı

Dergi:

Dicle Üniversitesi Mühendislik Fakültesi Mühendislik Dergisi Vol.15 Issue 1, pp.119-129

Belge Tipi:

Makale

Yayın Tarihi:

3/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001314454

pISSN:

1309-8640

Anahtar kelimeler:

Özet:

 Many of the equipment and machines we use in our everyday lives have changed due to major advancements in todays technology. Smartphones, which have made great progress especially in the last decade, perform many tasks in addition to interpersonal communication. Controlling robots, which are increasingly used in daily life and widely included in the literature, is one of these tasks. In this study, the pure pursuit algorithm was used to control the position of a non-holonomic differential drive mobile robot, and the path information to be tracked was received from an Android mobile device as a reference. An application design has been carried out for Android devices. The information for the path drawn here was transferred via the internet to a Google Spreadsheet. Coordinate information obtained from Google tables in MATLAB was separated as x and y axis information and entered into MATLABSimulink as waypoints of the pure pursuit algorithm and the position control of the robot was carried out. Error analysis was made by taking the differences between the reference path and the actual movement and the control performance was examined. Additionally, the effect of the approach distance value of the pure pursuit algorithm on the error is presented.

 Many of the equipment and machines we use in our everyday lives have changed due to major advancements in todays technology. Smartphones, which have made great progress especially in the last decade, perform many tasks in addition to interpersonal communication. Controlling robots, which are increasingly used in daily life and widely included in the literature, is one of these tasks. In this study, the pure pursuit algorithm was used to control the position of a non-holonomic differential drive mobile robot, and the path information to be tracked was received from an Android mobile device as a reference. An application design has been carried out for Android devices. The information for the path drawn here was transferred via the internet to a Google Spreadsheet. Coordinate information obtained from Google tables in MATLAB was separated as x and y axis information and entered into MATLABSimulink as waypoints of the pure pursuit algorithm and the position control of the robot was carried out. Error analysis was made by taking the differences between the reference path and the actual movement and the control performance was examined. Additionally, the effect of the approach distance value of the pure pursuit algorithm on the error is presented.

 Many of the equipment and machines we use in our everyday lives have changed due to major advancements in todays technology. Smartphones, which have made great progress especially in the last decade, perform many tasks in addition to interpersonal communication. Controlling robots, which are increasingly used in daily life and widely included in the literature, is one of these tasks. In this study, the pure pursuit algorithm was used to control the position of a non-holonomic differential drive mobile robot, and the path information to be tracked was received from an Android mobile device as a reference. An application design has been carried out for Android devices. The information for the path drawn here was transferred via the internet to a Google Spreadsheet. Coordinate information obtained from Google tables in MATLAB was separated as x and y axis information and entered into MATLABSimulink as waypoints of the pure pursuit algorithm and the position control of the robot was carried out. Error analysis was made by taking the differences between the reference path and the actual movement and the control performance was examined. Additionally, the effect of the approach distance value of the pure pursuit algorithm on the error is presented.

 Many of the equipment and machines we use in our everyday lives have changed due to major advancements in todays technology. Smartphones, which have made great progress especially in the last decade, perform many tasks in addition to interpersonal communication. Controlling robots, which are increasingly used in daily life and widely included in the literature, is one of these tasks. In this study, the pure pursuit algorithm was used to control the position of a non-holonomic differential drive mobile robot, and the path information to be tracked was received from an Android mobile device as a reference. An application design has been carried out for Android devices. The information for the path drawn here was transferred via the internet to a Google Spreadsheet. Coordinate information obtained from Google tables in MATLAB was separated as x and y axis information and entered into MATLABSimulink as waypoints of the pure pursuit algorithm and the position control of the robot was carried out. Error analysis was made by taking the differences between the reference path and the actual movement and the control performance was examined. Additionally, the effect of the approach distance value of the pure pursuit algorithm on the error is presented.

Makale detayları

Controlling the Mobile Robot with the Pure Pursuit Algorithm to Tracking the Reference Path Sent from the Android Device

Yazarlar:

Ahmet Top

Yayıncı:

Dicle University

Ana Başlıklar:

Akıllı Robotik | Modelleme ve Simülasyon | Bilgisayar Yazılımı

Dergi:

Dicle Üniversitesi Mühendislik Fakültesi Mühendislik Dergisi Vol.15 Issue 1, pp.119-129

Belge Tipi:

Makale

Yayın Tarihi:

3/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001314454

pISSN:

1309-8640

Communication

Mobile robot

Android application

Pure pursuit algorithmCommunication

Mobile robot

Android application

Pure pursuit algorithm

Sayı

Makale detayları

Yazarlar: Ahmet Top

Yayıncı: Dicle University

Ana Başlıklar: Akıllı Robotik | Modelleme ve Simülasyon | Bilgisayar Yazılımı

Dergi: Dicle Üniversitesi Mühendislik Fakültesi Mühendislik Dergisi Vol.15 Issue 1, pp.119-129

Belge Tipi: Makale

Yayın Tarihi: 3/2024

Belge Dili: İngilizce

Document ID (Org No.): 2001314454

pISSN: 1309-8640

Sayı

Yazarlar:

Ahmet Top

Yayıncı:

Dicle University

Ana Başlıklar:

Akıllı Robotik | Modelleme ve Simülasyon | Bilgisayar Yazılımı

Dergi:

Dicle Üniversitesi Mühendislik Fakültesi Mühendislik Dergisi Vol.15 Issue 1, pp.119-129

Belge Tipi:

Makale

Yayın Tarihi:

3/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001314454

pISSN:

1309-8640