Regresar

Embedded implementation of mobile robots control

Abstract:

In some embedded applications, the global control objective can be split in different control objectives from simpler to more complex ones. In this sense, simple controllers can achieve the basic control problems and controllers with more computational resources can be in charge of more complicated decisions. In these situations, a control architecture for coordinating all the components is needed. This work will present a distributed network-based control of mobile robots, each of them having embedded control system based on a microcontroller. In the control architecture proposed, in addition to the mobile robots, there is a PC working as a server and a set of PCs to control the mobile robots. A wide range of different control tasks can be done because all the computers are networked connected. The paper will also show some control examples like mobile robot control, automatic path generation free of collisions, control algorithms based on agents, etc. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.