One kind of control platform development for wheeled mobile robots

Author

Zhang, Huaixiang ; Dai, Guojun ; Zeng, Hong

Author_Institution

Sch. of Sci. & Technol., Hangzhou Dianzi Univ., Hangzhou

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

2074

Lastpage

2079

Abstract

This paper presents the control platform design for a self-developing mobile robot. In addition to the introduction of the robot´s whole framework, its control architecture, motion controller design and velocity loop servo controller are also described. Modular, open, distributed control architecture is utilized in the robot as well as advanced intelligent control strategies such as cross-coupling control and fuzzy logic control. Therefore, the robot has quick reactivity, precise motion control and excellent robustness under various dynamic environments.

Keywords

control system synthesis; distributed control; fuzzy control; mobile robots; motion control; servomechanisms; three-term control; velocity control; wheels; control platform design; cross-coupling control; distributed control architecture; intelligent fuzzy-PID control; motion controller design; velocity loop servo controller; wheeled mobile robot; Distributed control; Fuzzy logic; Intelligent control; Intelligent robots; Mobile robots; Motion control; Open loop systems; Robust control; Servomechanisms; Velocity control; control architecture; cross-coupling control; mobile robots; motion controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522488

Filename

4522488