Vol.11, No.1, February 2022.                                                                                                                                                                           ISSN: 2217-8309

                                                                                                                                                                                                                        eISSN: 2217-8333


TEM Journal



Association for Information Communication Technology Education and Science

Linear Differential Driven Wheel Mobile Robot Based on MPU9250 and Optical Encoder


Ilham Rustam, Nooritawati Md Tahir, Ahmad Ihsan Mohd Yassin, Nurbaiti Wahid, Abdul Hafiz Kassim


© 2022 Ilham Rustam, published by UIKTEN. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License. (CC BY-NC-ND 4.0)


Citation Information: TEM Journal. Volume 11, Issue 1, Pages 30-36, ISSN 2217-8309, DOI: 10.18421/TEM111-04, February 2022.


Received: 02 October 2021.

Revised:   11 January 2022.
Accepted: 17 January 2022.
Published: 28 February 2022.




In this paper, the operability of a custombuilt differential drive wheel mobile robot was evaluated using a self-driving algorithm in practical application. Several key parameters need to be realized by the WMR to enable succinct self-driving algorithm evaluations and parameter derivations. The main components of the WMR development were examined in this work, specifically parameter derivations, hardware implementation, steering algorithm and WMR operability. The result obtained indicate that with proper design and careful calibration of sensors, the required driving parameters could be realized. This enables the WMR to potentially serve as data collection platform for future evaluation of self-driving algorithms.


Keywords –self-driving algorithm, autonomous vehicles, sensor fusion, inertial measurement unit, wheel encoders.



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