Control System for an All-Terrain Mobile Robot

Paweł Ziemniak; Dariusz Uciński; Andreas Paczynski

doi:10.4028/www.scientific.net/SSP.147-149.43

Paper Titles

Novel Type of Hybrid 3-DOF Micromanipulator with Piezoelectric Actuators – Mechanical Construction and Simulations
p.19

Web-Based Synthesis of Robot Structures for Micro and Nano Manipulations
p.25

Control Algorithm for Four-Wheeled Robot Motionfor Monit oring Problems
p.31

Control Algorithms for the Mobile Robot “MAX” on a Task of Line Following Provided by Intelligent Image Processing
p.35

Control System for an All-Terrain Mobile Robot
p.43

Design of In-Pipe Modular Robotic Systems
p.49

GPS Based Navigation of an Autonomous Mobile Vehicle
p.55

Mechatronics Engineering on the Example of a Multipurpose Mobile Robot
p.61

Selected Problems of Navigation of Educational Mobile Robot
p.67

HomeSolid State PhenomenaSolid State Phenomena Vols. 147-149Control System for an All-Terrain Mobile Robot

Control System for an All-Terrain Mobile Robot

Abstract:

An idea of a control system architecture for a new wheeled mobile robot is proposed. The robot construction is characterized by an original drive mechanism and constitutes an extension of the previous research performed in Hochschule Ravensburg-Weingarten. In the new construction, the robot is given the ability to rise or lower its chassis. No complicated additional hardware is required as the level of the chassis can be changed by means of torque differences on the wheels. A modular approach is adopted to develop a hierarchical two-level and layered control system. Low and high levels correspond to local and global vehicle control. The low level is described in more detail, defining the layers and providing appropriate justification.