Low Level Control in States Space for the Pioneer

Author

Daza, I. García ; Pascual, L. M Bergasa ; Vazquez, M.A.S. ; Guillén, E. López ; Navarro, R. Barea ; Váizquez, M. A Sotelo

Author_Institution

Dept. of Electron., Alcala Univ., Madrid

Volume

1

fYear

2005

fDate

21-24 Nov. 2005

Firstpage

322

Lastpage

325

Abstract

In this paper, a new model and low level control system based on state variables theory for the commercial robotic platform called Pioneer 2 has been developed. We have identified and modelled the robot from the angular speeds of the wheels. We have controlled the translation and rotation speed of the robot, the orientation angle and the position increments. We have used encoders as position sensors. A comparison between the default model and control proposed by Aria, commercial software of ActivMedia robotics company, for the Pioneer 2 and our controller, called Charkos, has been carried out using several tests

Keywords

attitude control; control engineering computing; position control; robots; rotation; velocity control; Pioneer 2; commercial robotic platform; low level control; orientation angle control; position increment control; rotation speed control; state variables theory; states space; translation control; Control systems; Level control; Mathematical model; Mobile robots; Orbital robotics; Robot control; Robot sensing systems; State-space methods; Three-term control; Wheels; Control; mobile robots; states space;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer as a Tool, 2005. EUROCON 2005.The International Conference on

Conference_Location

Belgrade

Print_ISBN

1-4244-0049-X

Type

conf

DOI

10.1109/EURCON.2005.1629926

Filename

1629926