{"title":"On selected features of mobile robot control system","authors":"J. Majchrzak, M. Michalski","doi":"10.1109/ROMOCO.2005.201424","DOIUrl":null,"url":null,"abstract":"In this paper the results of research of mobile robot control system are presented, namely the quality of regulation with and without on-board velocity controllers taken into account. To verify the behaviour of the control system an time-varying controller was chosen which has nontrivial computing requirements. The algorithm's parameters used to control real object were set during simulations performed with described controller. The control system consists of kinematic oscillator algorithm implemented in real time operating system (RTAI Linux) and PI on-board controllers. Experimental results were obtained on a new mobile robot platform, Mini-Tacker 3.0.","PeriodicalId":142727,"journal":{"name":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","volume":"58 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMOCO.2005.201424","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
In this paper the results of research of mobile robot control system are presented, namely the quality of regulation with and without on-board velocity controllers taken into account. To verify the behaviour of the control system an time-varying controller was chosen which has nontrivial computing requirements. The algorithm's parameters used to control real object were set during simulations performed with described controller. The control system consists of kinematic oscillator algorithm implemented in real time operating system (RTAI Linux) and PI on-board controllers. Experimental results were obtained on a new mobile robot platform, Mini-Tacker 3.0.
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