Publication detail
Control and Sensoric Subsystem of Mechatronic System OMR III
SINGULE, V. LOJEK, O. HOUŠKA, P.
English title
Control and Sensoric Subsystem of Mechatronic System OMR III
Type
journal article - other
Language
en
Original abstract
The robot is able to make plane movements in the surroundings using a locomotive mechanism including planned interaction with the variable surrounding environment. The OMR III control system has been divided into three levels. The external subsystem represents the top level of control. The operator can control the robot through it in case of the artificial intelligence algorithms not to be able to solve the given situation. The planning subsystem creates a higher level of control and it solves localisation of the mobile robot during global navigation. The lowest level of control consists of the control subsystem of locomotion. The individual levels are inter-connected into a distributed network. The sensorial subsystem consists of two functionally different groups of sensors. The internal sensors provide information about changes of inner conditions of the robot. The external sensors provide information about changes of the external environment of the robot.
English abstract
The robot is able to make plane movements in the surroundings using a locomotive mechanism including planned interaction with the variable surrounding environment. The OMR III control system has been divided into three levels. The external subsystem represents the top level of control. The operator can control the robot through it in case of the artificial intelligence algorithms not to be able to solve the given situation. The planning subsystem creates a higher level of control and it solves localisation of the mobile robot during global navigation. The lowest level of control consists of the control subsystem of locomotion. The individual levels are inter-connected into a distributed network. The sensorial subsystem consists of two functionally different groups of sensors. The internal sensors provide information about changes of inner conditions of the robot. The external sensors provide information about changes of the external environment of the robot.
Keywords in English
mobile robot, sensor system, control system, motion control, matching, navigation, serial communication.
RIV year
2001
Released
29.05.2001
ISSN
0072-4688
Volume
2001
Number
z.177
Pages count
8
BIBTEX
@article{BUT40233,
author="Vladislav {Singule} and Oto {Lojek} and Pavel {Houška},
title="Control and Sensoric Subsystem of Mechatronic System OMR III",
year="2001",
volume="2001",
number="z.177",
month="May",
issn="0072-4688"
}