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"
}