Omni Directional Mobile Robot

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

Omni_bot

Demo:

video link

Abstract:

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.

Instructions:

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.

Before running any simulink file, make sure that you have setup the configuration Parameters as

Solver Options

• Type - Fixed Step
• Solver - ode2(Heun)

Additional parameters

• Fixed Step Size = 0.02

Simulation of Omni_bot using PID Controller

• Run omnipid.m in MATLAB
• Run omnipid_infinity.slx in simulink

Simulation of Omni_bot using SMC Controller

• Run omnismc.m in MATLAB
• Run omnismc_infinity.slx in simulink

Deploy the Code on Hardware

• Run omnismc.m in MATLAB
• Deploy omni_smc_infinity_arduino.slx.original using Simulink (Make sure MATLAB Support package for Arduino is already Installed)

Check Hardare

To check the working of hardware, we used Atduino IDE and run the code OSquare.ino, using this code bot performs square trajectory.

Dependencies:

• MATLAB
• Simulink
• MATLAB Support package for Arduino

Result:

Trajectory Tracking using PID and SMC

Contributors:

• Mohammad Saad
• Amrapali Khandare
• Uddesh Tople
• Zeeshanul Islam