Title :
Sensor-based motion control for a mobile robot
Author :
Popa, A.S. ; Popa, M. ; Szilagyi, D.
Author_Institution :
Fac. of Mech. Eng., Politeh. Univ., Timisoara, Romania
Abstract :
Various solutions have been proposed for controlling the motion of mobile robots. They are generally classified into two categories: global or explicit planning and local or implicit planning. The local solutions are mainly used in unknown environments and are completely based on information provided by sensors. This paper presents a solution for controlling the motion of a mobile robot through sensors. The X80 wheeled robot from DrRobot and the Cricket sensors were used. The trajectory of the robot is obtained reactively. It is controlled by a sensor which, at its turn, receives wirelessly commands from a PC. The PC is informed about the position and the motion of the mobile robot by other wireless sensors.
Keywords :
control engineering computing; mobile robots; motion control; path planning; position control; wireless sensor networks; Cricket sensors; DrRobot; PC; X80 wheeled robot; explicit planning; global planning; implicit planning; local planning; mobile robot; sensor-based motion control; wireless sensors; Infrared sensors; Mobile robots; Motion control; Motion planning; Navigation; Robot control; Robot kinematics; Robot sensing systems; Sensor phenomena and characterization; Wireless sensor networks;
Conference_Titel :
Applied Computational Intelligence and Informatics, 2009. SACI '09. 5th International Symposium on
Conference_Location :
Timisoara
Print_ISBN :
978-1-4244-4477-9
Electronic_ISBN :
978-1-4244-4478-6
DOI :
10.1109/SACI.2009.5136268
