Linear Differential Driven Wheel Mobile Robot Based on MPU9250 and Optical Encoder
Linear Differential Driven Wheel Mobile Robot Based on MPU9250 and Optical Encoder
Author(s): Ilham Rustam, Md Tahir Nooritawati, Ahmad Ihsan Mohd Yassin, Abdul Hafiz KassimSubject(s): ICT Information and Communications Technologies
Published by: UIKTEN - Association for Information Communication Technology Education and Science
Keywords: self-driving algorithm; autonomous vehicles; sensor fusion; inertial measurement unit; wheel encoders
Summary/Abstract: In this paper, the operability of a custombuilt differential drive wheel mobile robot was evaluated using a self-driving algorithm in practical application. Several key parameters need to be realized by the WMR to enable succinct self-driving algorithm evaluations and parameter derivations. The main components of the WMR development were examined in this work, specifically parameter derivations, hardware implementation, steering algorithm and WMR operability. The result obtained indicate that with proper design and careful calibration of sensors, the required driving parameters could be realized. This enables the WMR to potentially serve as data collection platform for future evaluation of self-driving algorithms.
Journal: TEM Journal
- Issue Year: 11/2022
- Issue No: 1
- Page Range: 30-36
- Page Count: 7
- Language: English