Title :
The role of sensing in motion stability of mobile robots
Author :
Tan, Jindong ; Xi, Ning ; Kang, Wei
Author_Institution :
Dept. of Electr. & Comput. Eng., Michigan State Univ., East Lansing, MI, USA
Abstract :
Generally, mobile robots are equipped with several kinds of sensors for locomotion environmental detection, etc. This paper presents a hybrid control system framework which considers a non-time based mobile robot controller and a discrete event controller combined with sensor fusion. The non-time based mobile robot controller supervised by the discrete event controller can track desired path while detecting and avoiding obstacles. This system structure has been implemented on a mobile robot. Experimental results demonstrate advantages of the proposed method
Keywords :
collision avoidance; discrete event systems; mobile robots; navigation; position control; sensor fusion; tracking; discrete event control; hybrid control system; mobile robots; motion stability; nontime based control; obstacle avoidance; path tracking; sensor fusion; Automatic control; Control systems; Mobile robots; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation; Sensor fusion; Shape measurement; Stability;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1999. MFI '99. Proceedings. 1999 IEEE/SICE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-5801-5
DOI :
10.1109/MFI.1999.815966
