PID Control of Main Maneuver for Three-Wheeled Omniwheel Robot

Abstract

The maneuverability and precision of three-wheeled omniwheel robots are essential for effective navigation in
various environments. This study aims to implement a PID (Proportional-Integral-Derivative) control system on a threewheeled

omniwheel robot using the arduino platform, with compass sensor data serving as the primary reference for
orientation control. The omniwheel design allows the robot to move freely in any direction, making it suitable for
applications that require high flexibility and responsiveness. In this research, mathematical modeling of the robot's
dynamics was conducted to understand its behavior during movement. The PID control algorithm was implemented to
manage the speed and angular velocity of each wheel, utilizing feedback from the compass sensor to maintain the desired
heading and stability during maneuvers. The experimental setup involved various maneuver scenarios, including rapid
direction changes and navigation through complex paths. Results indicate that the integration of PID control with
compass data significantly enhances the stability and accuracy of the robot's maneuvers. The proposed control system
effectively reduces heading error and improves response time, demonstrating its effectiveness in maintaining precise
movement under dynamic conditions. In conclusion, the combination of Arduino platform, PID control, and compass
data provides a robust solution for controlling the main maneuver of a three-wheeled omniwheel robot, particularly in
applications demanding high maneuverability and directional stability.