Revised: 09 July 2021
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IV. S IMULATION R ESULTS To study the effectiveness of the proposed line follower algorithm and the robustness of the designed PID controller, the simulation package of the Matlab is used as shown in Figure 7. The PSO algorithm is used to tune the parameters of PID controller. The complex path (has sharp bends) is used to test the simulated mobile robot. The result show that the proposed line follower algorithm and the designed PID controller succeed to keep the robot track the desired trajectory as shown in Fig. 8. The error signal, the control signal, the Angular velocity of left wheel and angular velocity of the right wheel are shown in Figure 9, 10, 11 and 12, respectively. The hardware implementation is performed in this work. The AMR is connected with the host computer using USB cable to program the Motor Board of AMR. Simulink Support Package for Arduino Hardware is installed to Matlab program for programming the AMR. The Matlab Simulink is used to design the multiplexer and the flow chart to read the IR sensors to generate suitable PWM signals for the motor driver depending on the proposed line follower algorithm. The same complex path that is used in simulation part is used to test the real mobile robot. The practical results show that the AMR succeeds to track the desired trajectory even a complex path is used. Figure 13 shows the practical results. IR sensor IR4 IR3 IR2 IR1 IR0 Weights -4 -2 0 2 4 Straight Right Left Fig. 6 the description of the line follower algorithm Fig. (7) Simulation block diagram of the line follower mobile robot Fig. (8) Robot simulator Alwan, Green, Noori & Aldair | 15 Fig. (13) Arduino Mobile Robot Tracks the desired trajectory tải về 1.13 Mb. Chia sẻ với bạn bè của bạn:
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