Development of PID controller for Autonomous Mecanum Wheel

Development of PID controller for Autonomous Mecanum Wheel Robot with Tracing and Collision Avoidance Properties (Holobot) Cole Perrault Spring 2015 ET 493 Wesley Deneke

Holobot Autonomous System PID System § Microcontroller § Motor Shield § H-Bridge DC Motor § Mecanum Wheels § Color Sensor § Distance Sensor § 12 V Battery § Calculations § Implementing § Analysis § Conclusion

Autonomous System

PID System

Motivation § Implement PID system for personal development – learn something § Have a platform to be used by future students – teach others § Implement small research and development for the stability in systems – perform research § Contribution to the school for future interests – school merit

Methodology

Accomplishments Current Accomplishments Future Goals § Peripherals Research § DC Motor Research § Voltage Regulation § Transfer Function Equations § Building the Holobot § Coding the Holobot § Testing the Holobot § Implementation of PID § Testing of PID

Deliverables § Power. Point Presentation…………………. . . …April 1 § Platform………………………………. . . TBD § Mathematical Methods Sheet…………………. May 6 § Test each Peripheral………………………April 2 § Code……………………. ……. . . ……………. April 2 § Build Holobot…………………. Summer 2015 § Test Holobot………………………Summer/Fall 2015 § Implementation of PID…………………. . . Fall 2015 § Testing of PID………………………. ……Fall 2015

Holobot Cole Perrault Spring 2015 ET 493 Wesley Deneke