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Some Results of Realisation of the Omnidirectional Mobile Robot
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| Author(s) |
Singule V., Šimeèek K.* |
| 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. |
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| Filename: | EPE-PEMC2000 - 209 - Singule.pdf |
| Filesize: | 384.5 KB |
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| Type |
Members Only |
| Date |
Last modified 2004-04-28 by System |
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