Title :
A rapid mobile robot synthesis
Author :
Ruaux, P. ; Bourdon, G. ; Delaplace, S. ; Pons, N. ; Rabit, J.
Author_Institution :
Lab. de Robotique de Paris, Centre Univ. Technol., Velizy-Vilacoublay, France
Abstract :
In this paper, we design a new mobile robot in order to study the dynamic phenomena with a fast robot. This plate-form has a classical locomotion structure, two front free wheels and two rear driving wheels. We present a new multilayers architecture to decentralize the computation. We adopt a CAN protocol communication to connect the different layers. Dedicated cards have been developed for low level control. After this realizations, we establish the constraint equations and dynamic model. We determinate a control law to perform trajectory tracking with the input output feedback linearization method. Simulations are presented to show the availability of our approach
Keywords :
feedback; hierarchical systems; linearisation techniques; microcontrollers; mobile robots; protocols; robot dynamics; CAN protocol communication; decentralized computation; dedicated cards; dynamic phenomena; input-output feedback linearization method; low-level control; multilayer architecture; rapid mobile robot synthesis; Communication system control; Computer architecture; Equations; Level control; Linear feedback control systems; Mobile communication; Mobile robots; Nonhomogeneous media; Protocols; Wheels;
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
DOI :
10.1109/ICSMC.1995.538428
