Publication detail
The Autonomous Omnidirectional Mobile Robot as Mechatronic System
SINGULE, V. MALÝ, A. HOUŠKA, P. LOJEK, O.
Czech title
Autonomní všesměrový mobilní robot jako mechatronický systém
English title
The Autonomous Omnidirectional Mobile Robot as Mechatronic System
Type
conference paper
Language
en
Original abstract
The contribution gives an overview information about overall concept of the autonomous omnidirectional mobile robot OMR III and its basic systems. A robot is designed for an autonomous motion in a partially known environment with the static and dynamic changed conditions. Above all three level control system structures are introduced. In the article there is introduced a mathematical model of a locomotion on the level of motion equations and some solution results of the task of a global navigation by Ljapunov’s function. Further the vector-spacing function is introduced for a solution of a local navigation task solution including computer simulation results. These results show that a robot is capable to react on an obstacles with a maximal speeds at an effective use of scan sensor data, those structure is in an article also described.
Czech abstract
The contribution gives an overview information about overall concept of the autonomous omnidirectional mobile robot OMR III and its basic systems. A robot is designed for an autonomous motion in a partially known environment with the static and dynamic changed conditions. Above all three level control system structures are introduced. In the article there is introduced a mathematical model of a locomotion on the level of motion equations and some solution results of the task of a global navigation by Ljapunov’s function. Further the vector-spacing function is introduced for a solution of a local navigation task solution including computer simulation results. These results show that a robot is capable to react on an obstacles with a maximal speeds at an effective use of scan sensor data, those structure is in an article also described.
English abstract
The contribution gives an overview information about overall concept of the autonomous omnidirectional mobile robot OMR III and its basic systems. A robot is designed for an autonomous motion in a partially known environment with the static and dynamic changed conditions. Above all three level control system structures are introduced. In the article there is introduced a mathematical model of a locomotion on the level of motion equations and some solution results of the task of a global navigation by Ljapunov’s function. Further the vector-spacing function is introduced for a solution of a local navigation task solution including computer simulation results. These results show that a robot is capable to react on an obstacles with a maximal speeds at an effective use of scan sensor data, those structure is in an article also described.
Keywords in Czech
mobilní robot, matching, řízení pohybu, navigace
Keywords in English
mobile robot, matching, control movement, navigation
Released
14.11.2000
Publisher
VUT v Brně, FEI
Location
Brno
ISBN
80-214-1727-7
Book
ELEKTRICKÉ POHONY A VÝKONOVÁ ELEKTRONIKA EPVE 2000
Pages count
148
BIBTEX
@inproceedings{BUT3918,
author="Vladislav {Singule} and Aleš {Malý} and Pavel {Houška} and Oto {Lojek},
title="The Autonomous Omnidirectional Mobile Robot as Mechatronic System",
booktitle="ELEKTRICKÉ POHONY A VÝKONOVÁ ELEKTRONIKA EPVE 2000",
year="2000",
month="November",
publisher="VUT v Brně, FEI",
address="Brno",
isbn="80-214-1727-7"
}