Title :
On selected features of mobile robot control system
Author :
Majchrzak, Jaroslaw ; Michalski, Mateusz
Author_Institution :
Inst. of Control & Syst. Eng., Poznan Univ. of Technol., Poland
Abstract :
In this paper the results of research of mobile robot control system are presented, namely the quality of regulation with and without on-board velocity controllers taken into account. To verify the behaviour of the control system an time-varying controller was chosen which has nontrivial computing requirements. The algorithm´s parameters used to control real object were set during simulations performed with described controller. The control system consists of kinematic oscillator algorithm implemented in real time operating system (RTAI Linux) and PI on-board controllers. Experimental results were obtained on a new mobile robot platform, Mini-Tacker 3.0.
Keywords :
PI control; control system analysis; mobile robots; operating systems (computers); real-time systems; robot kinematics; time-varying systems; velocity control; Mini-Tacker 3.0; PI on-board controllers; RTAI Linux; control system behaviour; kinematic oscillator algorithm; mobile robot control system; nontrivial computing requirement; on-board velocity controller; real time operating system; time-varying controller; Computational modeling; Control systems; Kinematics; Mobile robots; Operating systems; Oscillators; Real time systems; Robot control; Time varying systems; Velocity control;
Conference_Titel :
Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on
Print_ISBN :
83-7143-266-6
DOI :
10.1109/ROMOCO.2005.201424
