In this paper, a wireless mobile robot with a differential drive system is designed and controlled. An effective method based on a geometrical approach is presented to achieve its maneuverability. The method classifies the robot movements if they are straight, maneuvered and 180° rotations around its axis and calculate robot wheels’ velocities to achieve the regarded movement. A piece of software called CoMobile is developed to implement and simulate the proposed method. It performs path planning in two ways: the first one is manual planning using screen drawing while the second one is automatic planning using potential fields. In addition, a wireless data transfer protocol has been added to the software to transmit the motion parameters obtained via proposed geometrical method from the computer to the robot’s microcontroller unit. For experimental purposes, a wireless mobile robot and its motion control system are designed. Two different simulations have been created in the software and both motions have been implemented in a university corridor demonstrating the mobile robot’s capabilities as illustrated with detailed figures.
Okan Minnetoglu (Thu,) studied this question.
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