Detail publikace

Design and Some Results of Realisation of the Omnidirectional Mobile Robot

Originální název

Design and Some Results of Realisation of the Omnidirectional Mobile Robot

Anglický název

Design and Some Results of Realisation of the Omnidirectional Mobile Robot

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 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 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.

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"
}