1. Development of PID controller for Autonomous Mecanum Wheel Robot with Tracing and Collision Avoidance Properties (Holobot) Cole Perrault Spring 2015 ET 493 Wesley Deneke

2. Autonomous SystemPID System Holobot  Microcontroller  Motor Shield  H-Bridge DC Motor  Mecanum Wheels  Color Sensor  Distance Sensor  12 V Battery  Calculations  Implementing  Analysis  Conclusion

3. Autonomous System

4. PID System

5. Motivation  Implement PID system for personal development – learn something  Have a platform to be used by future students – teach others  Implement small research and development for the stability in systems – perform research  Contribution to the school for future interests – school merit

6. Methodology

7. Current AccomplishmentsFuture Goals Accomplishments  Peripherals Research  DC Motor Research  Voltage Regulation  Transfer Function Equations  Building the Holobot  Coding the Holobot  Testing the Holobot  Implementation of PID  Testing of PID

8. Deliverables  PowerPoint Presentation……………………………………...…April 1  Platform……………………………………………………………...TBD  Mathematical Methods Sheet…………………………………….May 6  Test each Peripheral………………………………………………April 2  Code………………………………………….……...…………….April 2  Build Holobot……………………………………..…..……….Summer 2015  Test Holobot………………………………………………Summer/Fall 2015  Implementation of PID……………………………………..............Fall 2015  Testing of PID…………………………………………….……Fall 2015

9. Holobot Cole Perrault Spring 2015 ET 493 Wesley Deneke