Publication detail

The Autonomous Omnidirectional Mobile Robot as Mechatronic System

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

Original Title

The Autonomous Omnidirectional Mobile Robot as Mechatronic System

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.

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

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 from

143

Pages to

290

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",
  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’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.",
  address="VUT v Brně, FEI",
  booktitle="ELEKTRICKÉ POHONY A VÝKONOVÁ ELEKTRONIKA EPVE 2000",
  chapter="3918",
  institution="VUT v Brně, FEI",
  year="2000",
  month="november",
  pages="143",
  publisher="VUT v Brně, FEI",
  type="conference paper"
}