Publication detail

Design and Some Results of Realisation of the Omnidirectional Mobile Robot

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

Original Title

Design and Some Results of Realisation of the Omnidirectional Mobile Robot

English Title

Design and Some Results of Realisation of the Omnidirectional Mobile Robot

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 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 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

mobile robots, locomotin and control systems, global and local navigation

RIV year

2001

Released

21.09.2000

Location

Warsaw

ISBN

83-914366-0-8

Book

Mechatronics 2000

Pages from

71

Pages to

74

Pages count

4

BibTex


@inproceedings{BUT3916,
  author="Vladislav {Singule} and Aleš {Malý} and Pavel {Houška} and Oto {Lojek}",
  title="Design and Some Results of Realisation of the Omnidirectional Mobile Robot",
  annote="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 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.",
  booktitle="Mechatronics 2000",
  chapter="3916",
  year="2000",
  month="september",
  pages="71",
  type="conference paper"
}