Control of the Omnidirectional Mobile Robot MARGe

H. Abdellatif; Dirk Weidemann; Arne Michaelsen; Martin Grotjahn; Bodo Heimann

Control of the Omnidirectional Mobile Robot MARGe

H. Abdellatif
, Dirk Weidemann
, Arne Michaelsen
, Martin Grotjahn
, Bodo Heimann

Institut für Mechatronische Systeme

IAV GmbH

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

Abstract

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.

Originalsprache	Englisch
Titel des Sammelwerks	Proc. of the 14th Int. CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, RoManSy14
Erscheinungsort	Udine, Italy
Seiten	101-108
Seitenumfang	8
Publikationsstatus	Veröffentlicht - 2002

Dieses zitieren

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title = "Control of the Omnidirectional Mobile Robot MARGe",

abstract = "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.",

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Control of the Omnidirectional Mobile Robot MARGe. / Abdellatif, H.; Weidemann, Dirk; Michaelsen, Arne et al.
Proc. of the 14th Int. CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, RoManSy14. Udine, Italy, 2002. S. 101-108.

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

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AU - Weidemann, Dirk

AU - Michaelsen, Arne

AU - Grotjahn, Martin

AU - Heimann, Bodo

PY - 2002

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N2 - 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.

AB - 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.

M3 - Conference contribution

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EP - 108

BT - Proc. of the 14th Int. CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, RoManSy14

CY - Udine, Italy

ER -