![\"\"](\"https:\/\/robotrfid.kia.prz.edu.pl\/wp-content\/uploads\/2026\/01\/IMG_20251110_133035566_HDR-1-1024x728.jpg\")
<\/figure>\n\n\n\nModifications and Electronics Integration<\/h2>\n\n\n\n
The standard Wave Rover platform was adapted to the specific requirements of the project related to the RFID identification system.<\/p>\n\n\n\n
1. Drivetrain Control Modernization<\/h3>\n\n\n\n
As part of the laboratory implementation, the factory motor control software was abandoned. Instead of standard open-loop control, custom control algorithms were implemented in the ESP32 microcontroller:<\/p>\n\n\n\n
- \n
- PID controllers<\/strong> \u2014 Responsible for stabilizing the rotational speed of the wheels during straight-line motion, compensating for differences in the characteristics of individual motors.<\/li>\n\n\n\n
- Bang-bang control<\/strong> \u2014 Utilized during the rotation phase due to the unfavorable dynamics of the structure\u2014rotation is executed via differential steering. This allowed for increased precision when rotating the robot along a square grid, which is crucial in the absence of an external positioning system (GNSS).<\/li>\n<\/ul>\n\n\n\n
![\"\"](\"https:\/\/robotrfid.kia.prz.edu.pl\/wp-content\/uploads\/2026\/01\/IMG_20251110_132745058_HDR-1-1024x610.jpg\")
<\/figure>\n\n\n\n<\/p>\n\n\n\n
2. RFID Reader Module<\/h3>\n\n\n\n
An RFID reader was mounted in the lower section of the chassis, in close proximity to the ground. Its placement was specifically chosen to maximize the read range of the passive RFID tags distributed on the test board, while simultaneously maintaining the ground clearance necessary for movement.<\/p>\n\n\n\n
![\"\"](\"https:\/\/robotrfid.kia.prz.edu.pl\/wp-content\/uploads\/2026\/01\/IMG_20251110_132800279_HDR-scaled.jpg\")
<\/figure>","protected":false},"excerpt":{"rendered":"Konstrukcja robota mobilnego WAVE ROVER W cz\u0119\u015bci sprz\u0119towej projektu jako baz\u0119 mechaniczn\u0105 wykorzystano platform\u0119 Wave Rover firmy Waveshare. Jest to robot mobilny o konstrukcji modu\u0142owej, przystosowany do rozbudowy o zewn\u0119trzne komputery jednop\u0142ytkowe oraz sensoryk\u0119. Poni\u017cej przedstawiono szczeg\u00f3\u0142y techniczne konstrukcji oraz modyfikacje wprowadzone na potrzeby realizacji projektu eksploracji pola RFID. Budowa mechaniczna i uk\u0142ad jezdny Konstrukcja […]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-46","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/robotrfid.kia.prz.edu.pl\/en\/wp-json\/wp\/v2\/pages\/46","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/robotrfid.kia.prz.edu.pl\/en\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/robotrfid.kia.prz.edu.pl\/en\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/robotrfid.kia.prz.edu.pl\/en\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/robotrfid.kia.prz.edu.pl\/en\/wp-json\/wp\/v2\/comments?post=46"}],"version-history":[{"count":11,"href":"https:\/\/robotrfid.kia.prz.edu.pl\/en\/wp-json\/wp\/v2\/pages\/46\/revisions"}],"predecessor-version":[{"id":191,"href":"https:\/\/robotrfid.kia.prz.edu.pl\/en\/wp-json\/wp\/v2\/pages\/46\/revisions\/191"}],"wp:attachment":[{"href":"https:\/\/robotrfid.kia.prz.edu.pl\/en\/wp-json\/wp\/v2\/media?parent=46"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
- Bang-bang control<\/strong> \u2014 Utilized during the rotation phase due to the unfavorable dynamics of the structure\u2014rotation is executed via differential steering. This allowed for increased precision when rotating the robot along a square grid, which is crucial in the absence of an external positioning system (GNSS).<\/li>\n<\/ul>\n\n\n\n