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Mobile robot experimental modeling and control strategies using sensor fusion

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, and research 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. In this context the research developed includes the visual information as a meaningful source that allows detecting the obstacle position coordinates as well as planning the free obstacle trajectory that should be reached by the robot

Journal of Control Engineering and Applied Informatics, 2006, vol. 8, núm. 3, p.47-55

Romanian Society of Control Engineering and Technical Informatics

Author: Pacheco Valls, Lluís
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, and research 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. In this context the research developed includes the visual information as a meaningful source that allows detecting the obstacle position coordinates as well as planning the free obstacle trajectory that should be reached by the robot
Format: application/pdf
ISSN: 1454-8658
Document access: http://hdl.handle.net/10256/8602
Language: eng
Publisher: Romanian Society of Control Engineering and Technical Informatics
Collection: Reproducció digital del document publicat a: http://www.ceai.srait.ro/index.php/ceai/article/view/193
Articles publicats (D-ATC)
Is part of: Journal of Control Engineering and Applied Informatics, 2006, vol. 8, núm. 3, p.47-55
Rights: Tots els drets reservats dels autors. This journal uses Open Journal Systems 2.3.8.0, which is open source journal management and publishing software developed, supported, and freely distributed by the Public Knowledge Project under the GNU General Public License
Subject: Mobile robots -- Control systems
Robots mòbils -- Sistemes de control
Control predictiu
Predictive control
Visió artificial (Robòtica)
Robot vision
Title: Mobile robot experimental modeling and control strategies using sensor fusion
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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