1. Mina Vaskovic, Faculty of Engineering, University of Kragujevac, Sestre Janjić 6, 34000 Kragujevac, Srbija 2IMW Ins, Serbia
2. Marko Jurisević, PE Urban Planning Directorate-Kragujevac, Serbia
3. Nenad Babajić, PE Urban Planning Directorate-Kragujevac, Serbia
4. Milan Matijević, PE Urban Planning Directorate-Kragujevac, Serbia
In mechatronics education accuracy of sensors used in systems control is very important, as students should have to study on adequate examples. Demonstration of control algorithms is the most effective on simpler laboratory setups, or mobile robots, in comparison with simulation realizations of controlled system.
As one of the problems of this concept are imperfect sensors used for feedback information. Mobile robot should be aware of its position in every moment, meaning that it should have correct information about the distance from a wall or obstacle. For example, if one wants to demonstrate P controller on a problem of keeping uniform distance from obstacle, sensor choice have influence on final results. This paper presents mentioned problem on distance control of Pioneer 3-DX mobile robot. It deals with problem using two different types of sensors. One is ultrasonic, as 3-DX has these types of sensors by default, and handmade photo sensor. Advantages and disadvantages of both types are presented on experimental results of distance task in different environmental conditions.
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Датум:
25.02.2013.
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