부산대학교 도서관

One of the most challenging research topics in robotics is the wall climbing robot. The wall climbing robots are able to perform dangerous operation, such as cleaning the high-rise building. This paper present Trajectory Tracking of a Wheeled Wall Climbing Robot Using PID Controller. To make sure that the wheels can be always well contacted to the wall without sacrificing robot's mobility is the most important consideration for controlling the wall-climbing robot. To evaluate the performance of the robot and the proposed controller, this paper conducted experiments of several trajectory tracking. Practically, encoder sensor provides the spatial posture information for realizing PID control schemes. The sensor is connected to a field-programmable gate array (FPGA) based onboard motion controller to generate control inputs for wheel motors and suction motor according to a specific trajectory. Finally, real tests were performed with the trajectories of circle, triangle and rectangle. The results were evaluated according to the measurement of the accuracy of trajectory.