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Control systems for mobile robot

Krysiak B., Kozłowski K.

Foundations of Control and Management Sciences

2006

No. 5

39-58

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.