Wyniki wyszukiwania - BazTech

Ograniczanie wyników

Znaleziono wyników: 2

Liczba wyników na stronie

Wyniki wyszukiwania

Wyszukiwano:
w słowach kluczowych: AmigoBot robot

Sortuj według:

Ogranicz wyniki do:

Wheeled robot dynamic modelling using the projection method

Burghardt A.

International Journal of Applied Mechanics and Engineering

2012

Vol. 17, no. 3

743-751

This paper presents the problem of generation of dynamic equations of a wheeled mobile robot motion by using the projection method. The projection method allows eliminating the Lagrange multipliers in the dynamics model of the wheeled mobile robot. This property allows using a mathematical model of the object in simulations and in control systems synthesis. As an example, the wheeled mobile robot AmigoBot was used. The approach to mobile robot modelling presented in this paper was performed using the software Maple V.

Hierarchical robot formation control system

Burghardt A.

International Journal of Applied Mechanics and Engineering

2012

Vol. 17, no. 3

733-741

The paper proposes a model of a wheeled mobile robot as a part of a robot formation. Using a hierarchical control system a control algorithm from point-to-point was given, for which stability was proven in the sense of Lapunov. The proposed algorithm can be implemented in the robot formation control, in both the virtual structure and follow-the-leader algorithms. The resulting solution was simulated and verified in control and measuring environment, which was able to manage and monitor the work of up to 256 mobile robots.