Design of household mobile robot system based on Petri net

Author

You, Bo ; Li, Dongjie ; Qiu, Jiangyan

Author_Institution

Coll. of Autom., Harbin Univ. of Sci. & Technol., Harbin

fYear

2008

fDate

2-4 July 2008

Firstpage

2831

Lastpage

2836

Abstract

The whole model of household mobile robot is designed according to the actual requirements. It includes three subsystems: remote human-computer interactive subsystem, PC server subsystem and semi-autonomous decision-making mobile robot subsystem. The motion model of semi-autonomous decision-making mobile robot is constructed. Low performance DC motor and low resolution code disk can cause inaccurate control of position and velocity in PWM way. For this reason, the event-driven dual-driving-wheel synchronization control model is established based on Petri net. Experimental results show that the velocity and position control accuracy of mobile robot is improved.

Keywords

Petri nets; decision making; human computer interaction; mobile robots; position control; service robots; synchronisation; velocity control; DC motor; PC server subsystem; Petri net; event-driven dual-driving-wheel synchronization control model; household mobile robot system; low resolution code disk; position control; remote human-computer interactive subsystem; semi-autonomous decision-making mobile robot subsystem; velocity control; Mobile robots; Mobile Robot; Petri Net; Synchronization Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference, 2008. CCDC 2008. Chinese

Conference_Location

Yantai, Shandong

Print_ISBN

978-1-4244-1733-9

Electronic_ISBN

978-1-4244-1734-6

Type

conf

DOI

10.1109/CCDC.2008.4597842

Filename

4597842