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

Institute of Mechatronic Systems

IAV GmbH

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › 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.

Original language	English
Title of host publication	Proc. of the 14th Int. CISM-IFToMM Symposium on the Theory and Practice of Robots and Manipulators, RoManSy14
Place of Publication	Udine, Italy
Pages	101-108
Number of pages	8
Publication status	Published - 2002

Cite this

@inproceedings{cbcf0f7545e64ea98f125af1acc51e44,

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.",

author = "H. Abdellatif and Dirk Weidemann and Arne Michaelsen and Martin Grotjahn and Bodo Heimann",

year = "2002",

language = "English",

pages = "101--108",

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

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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. p. 101-108.

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

TY - GEN

T1 - Control of the Omnidirectional Mobile Robot MARGe

AU - Abdellatif, H.

AU - Weidemann, Dirk

AU - Michaelsen, Arne

AU - Grotjahn, Martin

AU - Heimann, Bodo

PY - 2002

Y1 - 2002

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

SP - 101

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 -