Control of the Omnidirectional Mobile Robot MARGe
This paper presents the control architecture of the mobile robot MARGe. MARGe is a nonholonomic omnidirectional wheeled platform which is designed for flexible application to various tasks. In contrast to other centralised strategies known from literature, the control architecture is separated into different control levels. This allows the application of robust and well proven control laws on each level. The performance of the concept is proven by experimental results. Furthermore, a comparison of two different path control approaches is presented.
KeywordsMobile Robot Control Architecture Path Control Belt Drive Wheel Mobile Robot
Unable to display preview. Download preview PDF.
- Aguiar, A.P., Atassi, A.N., and Pascoal A.M. (2000). Regulation of nonholonomic dynamic wheeled mobile robot with parametric modeling uncertainty. In Proc. of the IEEE Int. Conf. on Decision and Contol, 2995–3000.Google Scholar
- Caracciolo, L., DeLuca, A., and Lannitti. (2000). Trajectory tracking control of a four-wheel differentially driven mobile robot. In Proc. of the 1999 IEEE Int. Conf. on Robotics and Automation, 2632–2638.Google Scholar
- DeLuca, A., Oriolo, G., Venditelli, M. (2000). Stabilization of the unicycle via dynamic feedback linearisation. In Proc. of the 6th IFAC Symposium on Robot Control (SYROCO2000), 397–402.Google Scholar
- Hanebeck, U.D., and Saldic, N. (1999). A modular wheel system for mobile robot applications. In Proc. Of the 1999IEEE/RSIIntern. Conf. on Intelligent Robots and Systems (IROS’99), 17–23.Google Scholar
- Horn, J. (1997). Bahnfiihrung eines mobilen Roboters. Fortschr.-Ber. VDI, Reihe 8, Nr. 617, VDI Verlag.Google Scholar
- Watanabe, K.S. (1998). Control of an omnidirectional mobile robot. In Proc. of the 1998 IEEE Second Intern. Conf. on Knowledge-Based Intelligent Electronic Systems, 51–60.Google Scholar