This project has been presented in the 'International Conference on Advances in Mechanical Engineering, 2020'. Please cite this paper if you are using this repository : paper
Mobile robots at present are used extensively in the industrial and commercial sectors. There is a need for a robot that can easily maneuver in the sparse space at the warehouse, stores, etc. Omnidirectional Mobile Robots are capable of maneuvering in all directions without changing its orientation on a flat surface. In our project we built a Robust Sliding Mode Controller for Omni wheeled mobile robot for trajectory tracking. We compare the result of sliding mode controller with standard PID controller and found that sliding mode controller gives much better accuracy than standard well-tuned PID controller.
We have implemented the Robust Sliding Mode Controller(RSMC) and PID Controller on Omni_bot using MATLAB-Simulink. Following are the instructions to use the Simulink Models.
- Type - Fixed Step
- Solver - ode2(Heun)
- Fixed Step Size = 0.02
- Run omnipid.m in MATLAB
- Run omnipid_infinity.slx in simulink
- Run omnismc.m in MATLAB
- Run omnismc_infinity.slx in simulink
- Run omnismc.m in MATLAB
- Deploy omni_smc_infinity_arduino.slx.original using Simulink (Make sure MATLAB Support package for Arduino or the controller to be used is already Installed)
To check the working of hardware, we used Arduino IDE and run the code OSquare.ino, using this code robot performs square trajectory.
- Mohammad Saad
- Amrapali Khandare
- Uddesh Tople
- Zeeshan ul Islam