Autonomous Mobile Robot Design and Control (Course Project)

Problem Description:

The project is part of the course EI318 Science and Technology Innovation (Part 4-E). The platform shown in Fig 1 is a three-wheel omnidrive robot. The tasks accomplished by our team include (1) control the robot to walk along walls in the building; (2) implement a remote control of the robot based on two PSoC3 boards.

My Contribution:

(1) I helped derive the Jacob matrix and then implemented the close-loop control system in Fig4 with other team members.

(2) To speed up the process of tuning PID parameters, I developed one serial port tool based on LabVIEW which could send parameters from PC to PSoC and then output the real-time response curve on PC screen.

(3) In the communication and operation part, I used one board as a relay node connecting the robot with my computer and then designed the computer interface.