Mohammad Febri Duwi Prasetiyo, Parama Diptya Widayaka

PID-Based Position and Trajectory Control of a Four-Wheeled Omnidirectional Robot Using Robot Operating System (ROS)

Introduction

Pid-based position and trajectory control of a four-wheeled omnidirectional robot using robot operating system (ros). PID control for four-wheeled omnidirectional robots using ROS is developed. This study achieves precise position and trajectory tracking, validated in simulation and real-world tests.

Abstract

Precise position control in omnidirectional mobile robots is essential for applications in industrial automation and competitive robotics, including the Indonesian Robot Contest (Soccer Wheeled Middle Size League Division). This study aims to develop and evaluate a position control system for a four-wheeled omnidirectional robot using a PID controller through both simulation and physical implementation within the Robot Operating System (ROS) framework. The research was conducted by designing a robot model with four omniwheels arranged at 90° angles, integrating sensor fusion using an MPU6050 gyroscope, rotary encoders, and magnetic encoders to provide real-time position feedback (x, y, θ). PID parameters were tuned using Ziegler-Nichols and trial-and-error methods and tested across five trajectory scenarios: straight line, L-pattern, square, triangle, and maneuver paths. Simulation results using ROS-Gazebo demonstrated optimal performance with 1.60% overshoot, 0.732 s rise time, 2.380 s settling time, and 0.0018 m/s steady-state error. Physical implementation revealed that trial-and-error tuning provided the most balanced performance with 0.684 s rise time, 3.29% overshoot, and 2.872 s settling time, showing better adaptability to real-world disturbances compared to the more aggressive Ziegler-Nichols response. The PID controller effectively reduced overshoot from 8.85% to 3.29% and RMSE from 0.7025 to 0.4279 m/s compared to uncontrolled operation. These findings demonstrate the effectiveness of the proposed control system in achieving accurate positioning and trajectory tracking, with strong consistency between simulation results and real-world testing results. This research contributes to quality education in robotics (SDG 4), supports innovation in industrial automation (SDG 9), and establishes a foundation for collaborative research and development in robotic systems (SDG 17).

Review

This study presents a timely and relevant investigation into precise position control for four-wheeled omnidirectional robots, a critical requirement for advanced applications in industrial automation and competitive robotics, such as the Indonesian Robot Contest. The authors effectively address the challenge by developing and evaluating a PID-based control system, utilizing the robust Robot Operating System (ROS) framework for both simulation and physical implementation. This dual approach provides a comprehensive validation of the proposed control strategy, making a significant contribution to the field of mobile robotics control. The methodology is well-structured, involving the design of a robot model with four omniwheels arranged at 90° and the integration of a sophisticated sensor fusion system comprising MPU6050, rotary, and magnetic encoders for accurate real-time position feedback. PID parameters were meticulously tuned using both Ziegler-Nichols and trial-and-error methods, with performance evaluated across five diverse trajectory scenarios. Simulation results using ROS-Gazebo demonstrated impressive performance metrics, including a low 1.60% overshoot and a 2.380 s settling time. Critically, physical implementation corroborated these findings, with trial-and-error tuning yielding a balanced 0.684 s rise time, 3.29% overshoot, and 2.872 s settling time, showcasing superior adaptability to real-world conditions compared to Ziegler-Nichols. The study notably highlights the PID controller's efficacy in significantly reducing overshoot from 8.85% to 3.29% and RMSE from 0.7025 to 0.4279 m/s compared to an uncontrolled state, confirming the system's robustness and accuracy. Overall, this research offers a valuable contribution by thoroughly demonstrating the effectiveness of a PID-based control system for omnidirectional robots, supported by strong consistency between simulation and physical test results. The clear presentation of quantitative performance metrics and the comparison of tuning methods provide actionable insights for future developments. Beyond its technical merits, the study explicitly aligns its findings with several Sustainable Development Goals (SDG 4, 9, and 17), underscoring its broader impact on quality education, innovation in industrial automation, and the fostering of collaborative research in robotics. This work establishes a solid foundation for enhancing the precision and reliability of omnidirectional robotic systems in demanding environments.

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