Development and evaluation of distributed control algorithms for the mobile robot Nomad200

1997 ◽  
Author(s):  
Eric Colon ◽  
Yvan Baudoin
Keyword(s):  
Mobile Robot ◽  
Distributed Control ◽  
Control Algorithms

Control Algorithms for the Mobile Robot “MAX” on a Task of Line Following Provided by Intelligent Image Processing

2009 ◽  
Vol 147-149 ◽  
pp. 35-42 ◽  
Author(s):  
Dzmitry Kaliukhovich ◽  
Vladimir Golovko ◽  
Andreas Paczynski
Keyword(s):  
Mobile Robot ◽  
Systems Engineering ◽  
Video Stream ◽  
Control Algorithms ◽  
Robot Motion ◽  
Real Time Processing ◽  
Web Camera ◽  
The Subject ◽  
Intelligent Image Processing ◽  
Line Following

In the paper, we present the mobile robot “MAX” developed at the Systems Engineering Laboratory, Hochschule Ravensburg-Weingarten, which serves as a mock-up of an automated guided vehicle intended for transportation of materials, and connection between different parts of a production line in industry. The subject of the paper is autonomous robot motion along a specified track formed with a one-colored insulation tape marked on the surface, on which the robot moves. The paper focuses on track detection provided by real-time processing of the video stream from an installed on the front of the robot web-camera that is the key feature of this work. In the paper, brief overview on the construction of the mobile robot “MAX” is introduced, the task of line following and motion criteria are formulated, some approaches to track detection and its presentation with mean points are proposed. Three motion control algorithms which are ensued are also presented and verified with experiments on the mobile robot “MAX” to show their real appropriateness.

Distributed Embedded Control Architecture of a Leader-Follower Mobile Robot Formation

2015 ◽  
Vol 779 ◽  
pp. 201-204
Author(s):  
Ran Li ◽  
Yun Hua Li
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Distributed Control ◽  
Electronic System ◽  
Control Architecture ◽  
Distributed Control System ◽  
Embedded Control ◽  
Data Bus ◽  
Robot Cooperation

Mobile robots have been widely used for the good adaptability, payload capability. Robot cooperation brings benefits for the task in a multi-robot team. In this paper, the modular hardware design of a leader-follower mobile robot team is discussed, including the distributed control architecture and the electronic system of each robot of the team. The basic idea behind this paper is to introduce the design of the hardware and distributed control architecture, which mainly manages the distributed control system, consisting of microcontroller modules connected through a data bus. The research has a potential applying prospect in mobile robot tracing and locating in the future.

Path Following Control Algorithms Implemented in a Mobile Robot with OMNI Wheels

2016 ◽  
Vol 24 (3) ◽  
pp. 131-142
Author(s):  
J. Wang ◽  
◽  
A.Yu. Krasnov ◽  
Yu.A. Kapitanyuk ◽  
S.A. Chepinskiy ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Path Following ◽  
Control Algorithms ◽  
Path Following Control

On the Tracking Control of Differentially Steered Wheeled Mobile Robots

1997 ◽  
Vol 119 (3) ◽  
pp. 455-461 ◽  
Author(s):  
Y. L Zhang ◽  
S. A. Velinsky ◽  
X. Feng
Keyword(s):  
Mobile Robot ◽  
Tracking Control ◽  
Control Algorithms ◽  
Position Tracking ◽  
Wheeled Mobile Robots ◽  
Tracking Ability ◽  
Exact Position ◽  
Position And Orientation ◽  
Robot Configuration ◽  
Tracking Point

Fundamental tracking control algorithms of a differentially steered wheeled mobile robot with two conventional driven wheels are studied through analyzing the robot’s inherent kinematics. This includes the tracking variable assignment as well as the tracking singularity and position-orientation tracking decoupling problems. Globally convergent tracking control algorithms are proposed, which can exactly track any differentiable reference path. A fundamental motion orientation equation under the condition of exact position tracking is developed, and it is shown that it is not possible to exactly track both position and orientation concurrently for this kind of mobile robot configuration if the tracking point is not on the baseline. Examples are provided illustrating the tracking ability of the developed control algorithms.

1P1-B04 Design and Implementation of Distributed Control Protocol with CAN for a Mobile Robot

2007 ◽  
Vol 2007 (0) ◽  
pp. _1P1-B04_1-_1P1-B04_2
Author(s):  
Shun IWASAKI ◽  
Hiroki MURAKAMI ◽  
Mitsuharu SONEHARA ◽  
Koichiro HAYASHI ◽  
Makoto MIZUKAWA
Keyword(s):  
Mobile Robot ◽  
Distributed Control ◽  
Control Protocol ◽  
Design And Implementation
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