Design and Implementation of an Asynchronous Finite State Controller for Wheeled Mobile Robots

Abstract

Wheeled mobile robots (WMRs) can navigate in uncontrolled environments with the assistance of electronic or physical devices. Several works have been conducted on the control and management of the path-tracking of a vehicle in different road scenarios. This paper aims to create an asynchronous finite state control law for a WMR. The control law is based on a proportional–integral–derivative controller, and the performance of the proposed model is evaluated in virtual and real environments in two different scenarios. In the first one, the WMR must perform a zig-zag maneuver between obstacles, while the second one involves a double left lane change. In the proposed scenarios, the WMR drives along a path until an obstacle is detected at less than 50 cm, causing the WMR to check whether the first lane is free to go and move on. These scenarios and the related required engineering approaches seem particularly suitable for system engineering in a student’s laboratory for the design and implementation of automated guidance system modeling.

Keywords

• mobile robot
• PID
• control system
• finite state machine