Design of control algorithms for mobile robots in an environment with static and dynamic obstacles

• Autorzy: Piotrowski Robert , Maciąg Bartosz , Makohoń Wojciech , Milewski Krzysztof

Identyfikatory

DOI

10.14313/JAMRIS/4-2019/34

• Języki publikacji: EN

Abstrakty

EN

This article proposes the construction of autonomous mobile robots and designing of obstacle avoidance algorithms for them. Nowadays, mobile robots are gaining more and more popularity on the customer as well as industrial market, for example as automatic vacuum cleaners or lawnmowers. Obstacle avoidance algorithms play an important role in performance of this types of robots. The proposed algorithms were designed for builds with rather not expensive electronic components, especially sensors with limited precision and dynamics. The project began with the selection of needed parts and building materials as well as designing of the PCB and assembling the whole construction. The project included also designing and developing the software responsible for, among others, implementation of obstacle avoidance algorithms. After the project’s completion, a series of tests in a closed environment was conducted to verify the quality of vehicles’ performance. Results of tests were positive.

Słowa kluczowe

EN

obstacle avoiding; control system; software development; mobile robot; mechatronics

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2019
• Tom: Vol. 13, No. 4
• Strony: 22--30
• Opis fizyczny: Bibliogr. 16 poz., rys.

Twórcy

autor

Piotrowski Robert

• Gdańsk University of Technology, Faculty of Electrical and Control Engineering

autor

Maciąg Bartosz

• Gdańsk University of Technology, Faculty of Electrical and Control Engineering

autor

Makohoń Wojciech

• Gdańsk University of Technology, Faculty of Electrical and Control Engineering

autor

Milewski Krzysztof

• Gdańsk University of Technology, Faculty of Electrical and Control Engineering

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020).