UTHM Institutional Repository

Motion planning system on an autonomous differential wheeled robot using PIC18F4550

Wong, Weng Hong and Zakaria , Mohamad Fauzi and Omar, Rosli (2012) Motion planning system on an autonomous differential wheeled robot using PIC18F4550. In: Proceeding of National Conference of Electric and Electronic Engineering 2012, 2012.


Download (634kB)


This paper presents design and development of motion planning system for an autonomous mobile robot that would find the shortest travelling path to reach its goal. Motion planning system is a system used in robotics for the process of detailing a task into discrete motions. Since there are disadvantages by implementing only one type of movement algorithm on an autonomous mobile robot, such the longer travel time taken by line follower and accuracy movement result by dead reckoning a motion planning system is designed in order to enhance the robot movement more effectively especially for a competition. An autonomous robot base of ROBOCN (ABU Robot Contest) was used as hardware testing. This project was carried on by designing a PID line follower and dead reckoning algorithm. Nevertheless, the motion planning system was designed to combine these two algorithm. As the outcomes to this project, there is a printed circuit board (PCB) of PIC15F4550 microcontroller designed to support the motion planning system. In Addition, the motion planning system was sucessfully implemented on the autonomous mobile robot by combining the two types of movement algorithms.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: motion planning system; autonomous robot; PID
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Divisions: Faculty of Electrical and Electronic Engineering > Department of Robotic and Mechatronic Engineering
Depositing User: Normajihan Abd. Rahman
Date Deposited: 15 Feb 2015 08:53
Last Modified: 15 Feb 2015 08:53
URI: http://eprints.uthm.edu.my/id/eprint/6112
Statistic Details: View Download Statistic

Actions (login required)

View Item View Item


Downloads per month over past year