Trajectory Tracking of a Four-Wheel Omni-Directional Mobile Robot using PID Control Method

Fizar Maulana, Nundang Busaeri, Imam Taufiqurrahman

Abstract


Mobile Robot Omni-Directional (OMR) offers superior mobility that allows it to move in any direction without the need to change orientation. However, for precision applications such as robotic competitions or industrial logistics, the main challenge is the ability to accurately track trajectory. This study proposes a simulation of a Proportional-Integral-Derivative (PID) control system for OMR with a four-wheel configuration. The research methodology includes inverse kinematics modeling to translate the robot's speed into the speed of individual wheels, the design of PID controllers to minimize position errors, and its implementation in a MATLAB simulation environment. The test scenario is carried out by providing a series of reference points (waypoints) that the robot must follow. The simulation results showed that the designed PID control system was able to direct the robot to follow a specified trajectory with a high degree of accuracy. The speed analysis of each wheel also shows a dynamic response that corresponds to kinematic calculations. This study proves the feasibility of implementing PID controllers for trajectory tracking applications on four-wheel OMRs and can be the basis for development on physical platforms.


Keywords


Robot Omni-Directional; Control PID; Trajectory Tracking; Kinematics Back; MATLAB simulation.

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References


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DOI: https://doi.org/10.17509/coelite.v4i2.91711

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