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Experimental Modeling and Control Strategies on an Open Mobile Robot Platform PRIM

This research work deals with the problem of modeling and design of low level speed controller for the mobile robot PRIM. The main objective is to develop an effective educational tool. On one hand, the interests in using the open mobile platform PRIM consist in integrating several highly related subjects to the automatic control theory in an educational context, by embracing the subjects of communications, signal processing, sensor fusion and hardware design, amongst others. On the other hand, the idea is to implement useful navigation strategies such that the robot can be served as a mobile multimedia information point. It is in this context, when navigation strategies are oriented to goal achievement, that a local model predictive control is attained. Hence, such studies are presented as a very interesting control strategy in order to develop the future capabilities of the system

© IEEE International Conference on Automation, Quality and Testing, Robotics : 2006, vol. 2, p. 225-230

IEEE

Author: Pacheco Valls, Lluís
Arbusé i Font, Roger
Luo, Ningsu
Date: 2006
Abstract: This research work deals with the problem of modeling and design of low level speed controller for the mobile robot PRIM. The main objective is to develop an effective educational tool. On one hand, the interests in using the open mobile platform PRIM consist in integrating several highly related subjects to the automatic control theory in an educational context, by embracing the subjects of communications, signal processing, sensor fusion and hardware design, amongst others. On the other hand, the idea is to implement useful navigation strategies such that the robot can be served as a mobile multimedia information point. It is in this context, when navigation strategies are oriented to goal achievement, that a local model predictive control is attained. Hence, such studies are presented as a very interesting control strategy in order to develop the future capabilities of the system
Format: application/pdf
Citation: Pacheco, L., Arbusé, R., i Luo, N. (2006). Experimental Modeling and Control Strategies on an Open Mobile Robot Platform PRIM. IEEE International Conference on Automation, Quality and Testing, Robotics : 2006, 2, 225-230. Recuperat 31 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4022959
ISBN: 1-4244-0360-X
Document access: http://hdl.handle.net/10256/2442
Language: eng
Publisher: IEEE
Collection: Reproducció digital del document publicat a: http://dx.doi.org/10.1109/AQTR.2006.254636
Articles publicats (D-ATC)
Is part of: © IEEE International Conference on Automation, Quality and Testing, Robotics : 2006, vol. 2, p. 225-230
Rights: Tots els drets reservats
Subject: Ensenyament assistit per ordinador
Robots mòbils
Sistemes multimèdia
Tecnologia educativa
Educational technology
Mobile robots
Multimedia systems
Web-based instruction
Title: Experimental Modeling and Control Strategies on an Open Mobile Robot Platform PRIM
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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