Control systems for mobile robot

• Autorzy: Krysiak B. , Kozłowski K.
• Języki publikacji: EN

Abstrakty

EN

This article is a summary of master's degree work "Steering systems for mobile robot" [2]. The target of this work was designing and building integrated circuit of power ending, which is destined to steer engine of a new mobile robot that is designed by Chair of Control and Systems Engineering. Another part of this work is the analysis of Morin's and Samson's [3] steering law, which will be used to steer mobile robot in the future. The first part of this article presents the structure of mobile robot with individual subsystems. In the second part the analysis of Morin's and Samson's steering law is presented.

Słowa kluczowe

EN

robot control; mobile robot; mobile robot steering

• Wydawca: Wydawnictwo Politechniki Poznańskiej
• Czasopismo: Foundations of Control and Management Sciences
• Rocznik: 2006
• Tom: No. 5
• Strony: 39--58
• Opis fizyczny: Bibliogr. 5 poz.

Twórcy

autor

Krysiak B.

autor

Kozłowski K.

• Ph.D. Student in Chair of Control and Systems Engineering, Faculty of Computing Science and Management

Bibliografia

• [1]Grygiel M., Methods of wheeled mobile robots steering (in Polish), Wydawnictwo Naukowe PWN, Warszawa 2002.
• [2]Krysiak B., Układy sterowania dla robota mobilnego, thesis, Politechnika Poznańska, 2005.
• [3] Morin P., Samson C., Practical stabilization of driftlees system on Lie Groups: The transverse function approach, IEEE Transactions on Automatic Control, Vol. 48, No. 9, September 2003, s. 1008-1025.
• [4]Spong M., Dynamic and steering of robots (in Polish), Wydawnictwo Naukowo-Techniczne, Warszawa 1997.
• [5]Wróblewski W., Metody modelowania dynamiki manipulatorów dla celów sterowania, Ph.D. thesis, Politechnika Poznańska, 1992.