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

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

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

Keyword(s): Kalman Filter, SDKF, Speed Estimation, Speed Control, Incremental Rotary Encoder, Low-resolution, Low-cost, Mobile Robotics.

Related Ontology Subjects/Areas/Topics: Adaptive Signal Processing and Control ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Real-Time Systems Control ; Robot Design, Development and Control ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; Vehicle Control Applications

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.

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Paper citation in several formats:
del Pino, I.; Á. Muñoz-Bañón, M.; Á. Contreras, M.; Cova-Rocamora, S.; A. Candelas, F. and Torres, F. (2018). Speed Estimation for Control of an Unmanned Ground Vehicle using Extremely Low Resolution Sensors. In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-321-6; ISSN 2184-2809, SciTePress, pages 206-213. DOI: 10.5220/0006867202060213

@conference{icinco18,
author={Iván {del Pino}. and Miguel {Á. Muñoz{-}Bañón}. and Miguel {Á. Contreras}. and Saúl Cova{-}Rocamora. and Francisco {A. Candelas}. and Fernando Torres.},
title={Speed Estimation for Control of an Unmanned Ground Vehicle using Extremely Low Resolution Sensors},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2018},
pages={206-213},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006867202060213},
isbn={978-989-758-321-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Speed Estimation for Control of an Unmanned Ground Vehicle using Extremely Low Resolution Sensors
SN - 978-989-758-321-6
IS - 2184-2809
AU - del Pino, I.
AU - Á. Muñoz-Bañón, M.
AU - Á. Contreras, M.
AU - Cova-Rocamora, S.
AU - A. Candelas, F.
AU - Torres, F.
PY - 2018
SP - 206
EP - 213
DO - 10.5220/0006867202060213
PB - SciTePress