SUPERVISORY POSITION CONTROL FOR WHEELED MOBILE ROBOT

被引：0

作者：

Bayoume, Mustafa Osman ^{[1
]}

Abd El-Geliel, M. ^{[2
]}

Rezeka, Sohair F. ^{[1
]}

机构：

[1] Arab Acad Sci Technol & Maritime Transport, Dept Mech Engn, PO 1029 Miami, Alexandria, Egypt

[2] Arab Acad Sci Technol & Maritime Transport, Elect & Control Engn Dept, PO 1029 Miami, Alexandria, Egypt

来源：

2016 20TH INTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING (ICSTCC) | 2016年

关键词：

Supervisory Control; Behavior Base Control; Wheeled Mobile Robot (WMR); Position Control; Omni Directional Wheel;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper focuses on the design of supervisory position control system for the Wheeled Mobile Robot (WMR) called Robotino. The target is to perform a position control using the behavior-base control strategy. The main advantage of this strategy is the division of the complex control task into sub simple tasks. The suggested supervisory system is a PC based and is designed using Lab VIEW software instead of the Robotino View software. Lab VIEW has many advantages like good graphical user interface and could be linked and integrated with other specialized software or different robotic systems. The simulation of the proposed system based on the deduced kinematic model of the Robotino WMR is carried out. Moreover, the proposed system is implemented practically on the Robotino WMR. The simulation and experimental results have shown an enhanced behavior with an acceptable performance.

引用

页码：228 / 233

页数：6

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