| Autor: |
W. Jongkind, P. van Turennout, G. Honderd |
| Rok vydání: |
2005 |
| Předmět: |
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| Zdroj: |
Proceedings. ICCON IEEE International Conference on Control and Applications. |
| Popis: |
Hierarchical layers of planning and control are a common approach to the mobile robot motion control problem. In this paper most attention is given to the implementation of the lower layers in a bottom-up approach. The layers consisting of motor speed control and position control must ensure at least reliable manoeuvering to be able to test different strategies in the high-level motion control. The lowest layer of speed control depends heavily upon the robot configuration and hardware. Therefore, effort has been spent in the modelling of the servo amplifiers and robot driving behaviour. These models have been validated through experiment. The position control layer implemented in software makes it possible to accurately achieve both absolute and relative moves. Through a description of the top layers of supervising and route planning it is indicated how intelligence and autonomy can be included in the motion control system. Here, a top-down approach is used. An interfacing level, trajectory control, completes the motion control structure. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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