Development of Real-time Control Test-bed for Unmanned Mobile Vehicles

Real-time verification is essential for any control algorithm before its practical implementation. A large number of online experiments should be done to test, modify and update theoretical dynamic models and control strategies, which are developed on plentiful assumptions of control object and environment. This paper describes our effort in developing a real-time control test-bed "P3-DS1401" for unmanned mobile vehicles, which is built on P3-DX robots, each integrated with a powerful rapid control prototyping tool-MicroAutoBox/DS1401. P3-DS1401 is a multifunctional intelligent test-bed, which opens up a host of opportunities for real-time test of control algorithms. Structure of the test-bed, development process of real-time experiments and potential applications will be introduced in this work