This thesis is about the control of wheeled robot using Arduino board with the trajectory commands being sent via Bluetooth module. To reflect the factory applications where things are to be carried along different paths and unload at each delivery point, the commands consist of multiple paths such as circular or square trajectories. On the other hand, in order to prevent the robot from hit by the obstacle, an emergency stop button is installed. It is worth noting that instead of designing from one delivery point to another, a complete factory route is designed, which is to take into account that the robot does not need to stop and unload at some point, so install a pause button to stop when the robot needs to unload, and then press the end pause state again to the next stop when the loading and unloading task is over.
The PID control method is adopted mainly for the following reasons: being simple, gains’ tuning being easy, being able to provide fast response and relative stability.
The research platform is a three omnidirectional wheeled robot, which can move freely in the work space and is particularly suitable for factory applications.
