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

Volume

5

fYear

1995

fDate

22-25 Oct 1995

Firstpage

4073

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICSMC.1995.538428

Filename

538428