Abstract
On this research, controlling the omni directional mobile robot is divided by two controls, high level control which covers positioning and path tracking, also the low-level control which covers omnidirectional kinematic, speed control, heading lock and communication. This also covers thread management, priority fixation and stack memory fixation. Program is divided into several main threads, i.e., IMU, speed controller, communication and motion thread (kinematic). Stack memory configuration for the above threads can be allotted as IMU thread with 1024 bytes of stack memory, speed control with 512 bytes, motion management with 512 bytes, communication with 128 bytes. IMU execution time lapses for 5.6uS, speed control elapses for 19.7uS, whereas motion elapses for 11uS and communication elapses for 1.2mS. Robot’s low-level control which includes robot movement kinematic (e.g., heading lock, speed control etc) is required to support the predefined system and enhance the robot sensor’s response in navigation.
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