Mobile robotic platform controller with an effective data communication protocol

Abstract

The current paper presents the design, implementation, and experimental results of the motion controller design of an effective data communication mobile robot platform developed for independently controlling each robotic drive wheel. The main objective of the research was to determine the data communication efficiency based on a three-wire bus, n-bit serial latched data communication system for independently controlling the closed-loop motion of each robotic wheel without the inclusion of a line tracer sensor unit on a robot. Odometry test results show that the motion controller model proposed is effective for applications in an automated guided vehicle used in manufacturing facilities.