Citation

Maung, Lwin Ma Ma and Min, Thu Soe @ M Sait and Wai, Mar Myint and Yadanar, Su and Wut, Yi Win and Wai, Phyo Ei (2025) Speed and Trajectory Tracking Control of a Four-Wheeled Surface Mobility Platform Robot on Varying Terrains. In: 2025 Multimedia University Engineering Conference, MECON 2025, 21 July 2025 - 23 July 2025, Cyberjaya, Malaysia.

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Abstract

This Effective motion control is critical for Surface Mobility Platform (SMP) mobile robots, especially when navigating diverse terrains. This paper focuses on motion control system of a four-wheeled SMP mobile robot powered by four DC motors. The research aims to improve speed regulation and trajectory tracking, addressing the challenges posed by various surface types. The robot's speed and performance were tested and analysed under a range of environmental conditions, including smooth and uneven surfaces. A differential drive kinematic model, integrated with a PID controller, is employed to control the robot's motion and trajectory, allowing it to adjust to changing surface conditions. The PID controller, in combination with the kinematic model, is used to regulate motor inputs, ensuring consistent speed and accurate trajectory tracking despite the varying demands of each terrain. This approach enhances the mobile robot's adaptability and overall performance, ensuring reliable operation across different environmental conditions and terrain types.

Item Type:	Conference or Workshop Item (Paper)
Uncontrolled Keywords:	kinematic model, SMP mobile robot, PID controller, rough terrain, trajectory.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics
Divisions:	Faculty of Engineering (FOE)
Depositing User:	Ms Suzilawati Abu Samah
Date Deposited:	19 Mar 2026 01:30
Last Modified:	19 Mar 2026 01:30
URII:	http://shdl.mmu.edu.my/id/eprint/15490

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