Control System of a Semi-Autonomous Mobile Robot
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Datum publikování
2016
Vedoucí práce
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Vydavatel
Elsevier Science BV
Abstrakt
In this paper, a control system, which has been designed for a semi-autonomous mobile robot, is presented. The robot has been developed as a part of a teaching aid. The teaching aid is aimed at practice of a path-planning theory. The main purpose of the robot within the teaching aid is physical execution of a path-plan scheduled by a high-level control system. The execution of path-plans is required to be accomplished by the robot autonomously, hence the 'semi-autonomous' appellation. The robot is based on an Arduino UNO microcontroller board. The robot acquires information about his workspace via reflectance sensors, encoders, and a magnetometer sensor. Since all these sensors provide only very limited information about the workspace, all the acquired data has to be used with utmost effectiveness. Thus, processing of the sensor data and multi-sensor integration is also considered in this paper.
Rozsah stran
p. 460 - 469
ISSN
2405-8963
Trvalý odkaz na tento záznam
Projekt
SGS_2016_017/Pokročilé senzorické systémy a jejich aplikace
Zdrojový dokument
IFAC Papersonline, volume 49, issue: 25
Vydavatelská verze
Přístup k e-verzi
open access
Název akce
14th IFAC Conference on Programmable Devices and Embedded Systems PDES 2016 (05.10.2016 - 07.10.2016)
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Klíčová slova
autonomous mobile robots, computer control system design, multisensor integration, path planning, data processing