Dual Mode PID Controller for Path Planning of Encoder Less Mobile Robots in Warehouse Environment

Abstract

Mobile robots have emerged as versatile substitutes for human labor across diverse domains, offering promising applications in surveillance, healthcare, and beyond. Fundamental to their autonomy are the core capabilities of movement, perception, cognition, and navigation. This research introduces a novel approach known as the Dual PID based low-cost navigation system (DPLNS), designed specifically for indoor warehouse-like environments. The primary objective of this technique is to enable seamless point-to-point traversal. This is achieved through a fusion of gyroscope correction and visual PID control mechanisms. Leveraging a strategically positioned eagle-eye perspective camera, the system gained crucial insights for navigation. To ensure the uninterrupted execution of planned trajectories, the system employs the Message Queuing Telemetry Transport (MQTT) protocol. This technology ensures smooth communication and coordination of actions. The experimental validation of the proposed strategy highlights its efficacy, positioning it as a promising solution for modern warehouse automation needs. By advancing the capabilities of mobile robots within warehouse contexts, this research not only addresses immediate operational demands, but also paves the way for broader applications across various other fields. The developed system enables robust detection and successful path traversal to the designated spot through a position control operating at average of 12.3 rad/s.

Keywords

• Control systems
• navigation
• robot motion
• visual control