DocumentCode
2694556
Title
Embedded control design of a mobile robot system: Results on a robust localization module
Author
Mueller, Fabian ; Wenzel, Andreas ; Gehr, Achim ; Ament, Christoph
Author_Institution
Fraunhofer Applic. Center Syst. Technol., Inst. of Optronics, Syst. Technol. & Image Exploitation (IOSB-AST), Ilmenau, Germany
fYear
2010
fDate
8-10 Sept. 2010
Firstpage
322
Lastpage
327
Abstract
This paper presents the embedded control design of the mobile robot system “Quanjo TDS”. Its control architecture combines software control aspects as well as an appropriate hardware layout in an overall concept. Related to this the results of an embedded, adaptive localization module incorporating a slip-free speed sensor are presented, which is an essential part of the modularized control concept.
Keywords
control engineering computing; control system synthesis; mobile robots; Quanjo TDS; adaptive localization module; embedded control design; mobile robot; slip-free speed sensor; software control; Global Positioning System; Kalman filters; Mathematical model; Mobile robots; Robot sensing systems; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications (CCA), 2010 IEEE International Conference on
Conference_Location
Yokohama
Print_ISBN
978-1-4244-5362-7
Electronic_ISBN
978-1-4244-5363-4
Type
conf
DOI
10.1109/CCA.2010.5611221
Filename
5611221
Link To Document