Autonomous Mobile Robot: Guidelines for a Simple Architecture

被引：0
|
作者：
Hernandez, Wilmar [1 ]
Canas, Norberto [2 ]
Perez, Marina [2 ]
Ceballos, Johan [3 ]
机构：
[1] Univ Amer, Fac Ingn & Ciencias Aplicadas, Quito, Ecuador
[2] Univ Politecn Madrid, Dept Sistemas Informat, Madrid, Spain
[3] Univ Amer, Escuela Ciencias Fis & Matemat, Quito, Ecuador
来源：
2022 IEEE 31ST INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE) | 2022年
关键词：
Engineering for robotic systems; service robotics; PID control; layered architecture; mechanical structure; controller evaluation;
D O I：
10.1109/ISIE51582.2022.9831592
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
A simple architecture for an autonomous mobile robot is presented. Additionally, an allocation of competencies for its components is established. The architecture is flexible and can be used as a guideline for engineers working in the design of autonomous mobile robots. Following the architecture a control level has been fully developed for a real robot, and the experimental results showed that design decisions were taken quickly.
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页码：267 / 272
页数：6
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