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An Autonomous Wheelchair with a LonWorks Network based Distributed Control System

  • Juan Carlos García
  • Marta Marrón
  • J. A. García
  • M. A. Sotelo
  • Jesús Ureña
  • J. L. Lázaro
  • F. J. Rodriguez
  • M. Mazo
  • Marisol Escudero

Abstract

Basic idea behind many distributed control architectures is that of decentralizing several tasks of a given system by increasing the intelligence of peripheral devices; in robotics that means sensors and actuators. This paper describes an application of a distributed solution (based on the LonWorks Technology) in the mobile robots field: the development of an Autonomous Wheelchair, designed to be easily upgraded with intelligent sensors and a high-level control system. A new I.C. called Neuron Chip have been tested and its capacity as a controller of dynamic systems has been assessed, exploiting both its capabilities in the transfer and exchange of messages, and its wide-ranging control possibilities using its input/output devices and programming objects.

Keywords

Mobile Robot Angular Speed Network Variable Distribute Control System Autonomous Guide Vehicle 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. [De Lucia, 1997]
    Frank V. De Lucia (Dreco Inc.), James J. Frazer and Richard M. Hair (Metra Corporation). “LonWorks Controls Technology of a Semi-Automatic Mobile Oil Drilling Rig”. LonUsers Conference Springe, Industrial Track. Published on LonWorks Networks Reference CD-ROM, Echelon-1997.Google Scholar
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Copyright information

© Springer-Verlag London Limited 1988

Authors and Affiliations

  • Juan Carlos García
    • 1
    • 2
  • Marta Marrón
    • 1
    • 2
  • J. A. García
    • 1
    • 2
  • M. A. Sotelo
    • 1
    • 2
  • Jesús Ureña
    • 1
    • 2
  • J. L. Lázaro
    • 1
    • 2
  • F. J. Rodriguez
    • 1
    • 2
  • M. Mazo
    • 1
    • 2
  • Marisol Escudero
    • 1
    • 2
  1. 1.Departemente de ElectrônicaUniversidad de AlcaláMadridSpain
  2. 2.Escuela PolitécnicaCampus UniversitarioMadridSpain

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