Title :
Experimental Modeling and Control Strategies on an Open Mobile Robot Platform PRIM
Author :
Pacheco, Lluís ; Arbusé, Roger ; Luo, Ningsu
Author_Institution :
Comput. Vision & Robotics Group, Girona Univ.
Abstract :
This research work deals with the problem of modeling and design of low level speed controller for the mobile robot PRIM. The main objective is to develop an effective educational tool. On one hand, the interests in using the open mobile platform PRIM consist in integrating several highly related subjects to the automatic control theory in an educational context, by embracing the subjects of communications, signal processing, sensor fusion and hardware design, amongst others. On the other hand, the idea is to implement useful navigation strategies such that the robot can be served as a mobile multimedia information point. It is in this context, when navigation strategies are oriented to goal achievement, that a local model predictive control is attained. Hence, such studies are presented as a very interesting control strategy in order to develop the future capabilities of the system
Keywords :
control engineering computing; educational aids; mobile robots; multimedia systems; predictive control; velocity control; automatic control theory; control model; control strategy; educational tool; local model predictive control; low level speed controller; mobile multimedia information point; navigation strategy; open mobile robot platform PRIM; Automatic control; Communication system control; Context; Hardware; Mobile communication; Mobile robots; Navigation; Sensor fusion; Signal design; Signal processing; Open robot mobile system; control model; educational tools; local model predictive controls; low level control;
Conference_Titel :
Automation, Quality and Testing, Robotics, 2006 IEEE International Conference on
Conference_Location :
Cluj-Napoca
Print_ISBN :
1-4244-0360-X
Electronic_ISBN :
1-4244-0361-8
DOI :
10.1109/AQTR.2006.254636
