Publication detail
SIMULATION OF THE MOBILE ROBOT SYSTEM OPERATION
SINGULE, V. KNOFLÍČEK, R. SYNEK, M. SZABÓ, I. BARTOŠ, S.
Czech title
SIMULATION OF THE MOBILE ROBOT SYSTEM OPERATION
English title
SIMULATION OF THE MOBILE ROBOT SYSTEM OPERATION
Type
conference paper
Language
en
Original abstract
The presented work sets as for the main goal to analyze the current condition in the area of global trajectory planning and local navigation in known environment for mobile robots, the design and realization of the construction and control system (CS) of an autonomous locomotion robot (ALR) and the realization of a superior control SW. Within previous research and development projects a universal multiprocessor control system was designed. This system was configured for the control of an omnidirectional mobile chassis. The concept of CS was chosen with respect to the possible structure of the navigation algorithm. The multiprocessor CS (selected concept) allows parallel information processing and therefore justifies the possible implementation of computationally demanding but precise navigation methods. The control system fulfils all given requirements of reliability, flexibility and computational efficiency. The implementation of a communication data bus CAN and CANAerospace protocol enables the monitoring and controlling of the system through already existing and available programming equipment.
Czech abstract
The presented work sets as for the main goal to analyze the current condition in the area of global trajectory planning and local navigation in known environment for mobile robots, the design and realization of the construction and control system (CS) of an autonomous locomotion robot (ALR) and the realization of a superior control SW. Within previous research and development projects a universal multiprocessor control system was designed. This system was configured for the control of an omnidirectional mobile chassis. The concept of CS was chosen with respect to the possible structure of the navigation algorithm. The multiprocessor CS (selected concept) allows parallel information processing and therefore justifies the possible implementation of computationally demanding but precise navigation methods. The control system fulfils all given requirements of reliability, flexibility and computational efficiency. The implementation of a communication data bus CAN and CANAerospace protocol enables the monitoring and controlling of the system through already existing and available programming equipment.
English abstract
The presented work sets as for the main goal to analyze the current condition in the area of global trajectory planning and local navigation in known environment for mobile robots, the design and realization of the construction and control system (CS) of an autonomous locomotion robot (ALR) and the realization of a superior control SW. Within previous research and development projects a universal multiprocessor control system was designed. This system was configured for the control of an omnidirectional mobile chassis. The concept of CS was chosen with respect to the possible structure of the navigation algorithm. The multiprocessor CS (selected concept) allows parallel information processing and therefore justifies the possible implementation of computationally demanding but precise navigation methods. The control system fulfils all given requirements of reliability, flexibility and computational efficiency. The implementation of a communication data bus CAN and CANAerospace protocol enables the monitoring and controlling of the system through already existing and available programming equipment.
Keywords in English
Path planning, mobile robot, multiprocessor control system, CAN, CANaerospace
RIV year
2006
Released
14.06.2006
Publisher
Orgis s.r.o
Location
Prague
Book
Advanced Engineering Design 2006
Pages count
6
BIBTEX
@inproceedings{BUT19910,
author="Vladislav {Singule} and Radek {Knoflíček} and Miloš {Synek} and István {Szabó} and Stanislav {Bartoš},
title="SIMULATION OF THE MOBILE ROBOT SYSTEM OPERATION",
booktitle="Advanced Engineering Design 2006",
year="2006",
month="June",
publisher="Orgis s.r.o",
address="Prague"
}