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Group of Automation, Robotics and Computer Vision (AUROVA), University of Alicante, San Vicente del Raspeig S/N, Alicante and Spain

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1 Papers

Speed Estimation for Control of an Unmanned Ground Vehicle using Extremely Low Resolution Sensors

Topics: Adaptive Signal Processing and Control; Robot Design, Development and Control; Real-Time Systems Control; Vehicle Control Applications; Mobile Robots and Autonomous Systems; Engineering Applications on Intelligent Control Systems and Optimization

Authors: Iván del Pino , Miguel Á. Muñoz-Bañón , Miguel Á. Contreras , Saúl Cova-Rocamora , Francisco A. Candelas and Fernando Torres

Affiliation: Group of Automation, Robotics and Computer Vision (AUROVA), University of Alicante, San Vicente del Raspeig S/N, Alicante and Spain

Digital Object Identifier: 10.5220/0006867202060213

Proceedings of ICINCO 2018, ISBN: 978-989-758-321-6

Quick Abstract

In mobile robotics, the low-level control is a key component that translates the desires of the high-level system into actual voltages and currents to drive the motors. PID controllers have been extensively used for speed control, but their performance depend heavily on the quality of the process variable (PV) estimation. In fact, noise and outliers --if not properly filtered-- might lead to system instability. In this work, we present a speed estimation strategy that enables us to develop an inexpensive, accurate and easy-to-install speed control solution. The proposed system relies on a Hall effect sensor and a Single-Dimensional Kalman Filter and its suitability is demonstrated through a number of real experiments controlling the speed of an Unmanned Ground Vehicle. We detail the design, implementation and validation processes and provide a GitHub repository with the developed software and CAD designs.

Related Ontology Subjects/Areas/Topics (8)

Adaptive Signal Processing and Control	Real-Time Systems Control	Signal Processing, Sensors, Systems Modeling and Control
Informatics in Control, Automation and Robotics	Robot Design, Development and Control	Vehicle Control Applications
Mobile Robots and Autonomous Systems	Robotics and Automation