Neural Control of a Mobile Robot Amigobot

• Autorzy: Burghardt, A. , Hendzel, Z.
• Języki publikacji: EN

Abstrakty

EN

In the paper, the author provides a proposal of a quick prototyping environment for algorithms controlling homogenous, autonomous mobile robots. The solution proposed enables monitoring of the operation of a group of mobile robots consisting of the recording of motion parameters and signals from distance detectors as well as of controlling the drive units. Furthermore, the solution is exible, enabling work with various numbers of robots as well as modi cation of their settings, and conforms to the real time system requirements assumed. In the course of the development process, AmigoBot mobile robots manufactured by ActiveMedia Robotics were used. The control and measuring environment proposed has been veri ed based on the sample behavioural task of "running in the middle of a free space". A neural algorithm of a mobile robot's AmigoBot movement control was proposed in the project. A control synthesis was carried out with the use of a mathematic model of the robot; a system's stability was proved in a Lapunow sense. In a control process arti cial neural networks were used, linear because of weight. A received solution was veri ed with the use of a real mobile robot in an author control-measuring environment.

Słowa kluczowe

PL

robot autonomiczny mobilny; szybkie prototypowanie; automatyka

EN

autonomous mobile robots; rapid prototyping; robot control

• Czasopismo: Mechanics and Mechanical Engineering
• Rocznik: 2011
• Tom: Vol. 15, nr 4
• Strony: 21--29
• Opis fizyczny: Bibliogr. 5 poz.

Twórcy

autor

Burghardt, A.

• Rzeszow University of Technology Department of Applied Mechanics and Robotics ,

autor

Hendzel, Z.

• Rzeszow University of Technology Department of Applied Mechanics and Robotics ,

Bibliografia

• 1. Burghardt, A.: Proposal for a rapid prototyping environment for algorithms intended for autonomous mobile robot control, Mechanics and Mechanical Engineering, Technical University of Lodz, vol. 12, No 1, p. 5-16, 2008.
• 2. Burghardt A.: Modelowanie dynamiki mobilnego robota kolowego rownaniami Appella, Acta Mechanica et Automatica, vol.4, no.1 Bialystok, 2010.
• 3. Burghardt, A. and Giergiel, J.: Modelling of Mobile Wheeled Robot with Dynamic Drive Compliance, Modelling and Optimization of Physical Systems, 9, Gliwice 2010.
• 4. Burghardt A., Giergiel, J.: Kinematics of a Robot Formation in Large-SizeTransportation, Polish Journal of Environmental Studies, Vol. 20, No. 5A, p.41-45, Hard Publishing Company, 2011.
• 5. Giergiel, M., Hendzel, Z. and Żylski, W.: Modelowanie i sterowanie mobilnych robotow kolowych, PWN, Warszawa, 2002.