Abstract
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.
Highlights
Robotics has become an indispensable part in our lives from strategic military operations to mundane applications of household and cleaning
Normal Dc motors have continuous output whereas stepper motors have step outputs. [2]For precise intrinsic coordinate mapping of our two wheeled mobile robot we found that stepper motors are better than normal dc motors equipped with wheel encoders which give rotations as a feedback in terms of ticks
Traditional differential drive wheeled robots are maneuvered with the help of DC motors
Summary
Robotics has become an indispensable part in our lives from strategic military operations to mundane applications of household and cleaning. Controlling and operating legged mechanism robots are much more complicated than wheeled robots. Apart from the control systems legged mechanism robots are relatively slower. Differential drive odometry techniques with DC motors and encoders are used for path tracking algorithms. The bot can be moved along a certain curve by giving the two wheels different velocities. Such a bot will have problems moving along a straight line since both the wheels are independent. Our research is based on a better approach of using stepper motors rather than DC for precise rotation of the wheels and in turn the orientation of the bot. The wheels can be independently controlled to change the orientation of the bot at any given instant of time
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