Detail publikace

Autonomní všesměrový mobilní robot jako mechatronický systém

SINGULE, V. MALÝ, A. HOUŠKA, P. LOJEK, O.

Český název

Autonomní všesměrový mobilní robot jako mechatronický systém

Anglický název

The Autonomous Omnidirectional Mobile Robot as Mechatronic System

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

en

Originální abstrakt

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.

Český abstrakt

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.

Anglický abstrakt

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.

Klíčová slova česky

mobilní robot, matching, řízení pohybu, navigace

Klíčová slova anglicky

mobile robot, matching, control movement, navigation

Vydáno

14.11.2000

Nakladatel

VUT v Brně, FEI

Místo

Brno

ISBN

80-214-1727-7

Kniha

ELEKTRICKÉ POHONY A VÝKONOVÁ ELEKTRONIKA EPVE 2000

Počet stran

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"
}