Towards Development of Reliable Mobile Robot Navigation System

Author

Shepelev, Denis ; Ustyuzhanin, Andrey

Author_Institution

Dept. of Control & Appl. Math., Moscow Inst. of Phys. & Technol., Moscow, Russia

fYear

2015

fDate

24-26 April 2015

Firstpage

1006

Lastpage

1010

Abstract

This paper presents a combined control system for mobile robot. The developed system allows to teleoperate a mobile robot and switches to autonomous movement when the connection with the mobile robot is lost. To create this control system the comparative analysis of existing sensors was performed, based on this analysis the sensors for localization robot were chosen, the virtual model of the 4-wheeled mobile robot and a controller were developed. Then based on ROS(Robot Operating System) the combined control system was created.

Keywords

control engineering computing; mobile robots; operating systems (computers); path planning; sensors; telerobotics; wheels; 4-wheeled mobile robot; ROS; autonomous movement; localization robot; reliable mobile robot navigation system development; robot operating system; sensors; teleoperation; virtual model; Control systems; Extraterrestrial measurements; Mobile robots; Operating systems; Robot sensing systems; Autonomous navigation; Robot Operating System; Sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Science and Control Engineering (ICISCE), 2015 2nd International Conference on

Conference_Location

Shanghai

Print_ISBN

978-1-4673-6849-0

Type

conf

DOI

10.1109/ICISCE.2015.227

Filename

7120767