DocumentCode :
2563182
Title :
Design of household mobile robot system based on Petri net
Author :
You, Bo ; Li, Dongjie ; Qiu, Jiangyan
Author_Institution :
Coll. of Autom., Harbin Univ. of Sci. & Technol., Harbin
fYear :
2008
fDate :
2-4 July 2008
Firstpage :
2831
Lastpage :
2836
Abstract :
The whole model of household mobile robot is designed according to the actual requirements. It includes three subsystems: remote human-computer interactive subsystem, PC server subsystem and semi-autonomous decision-making mobile robot subsystem. The motion model of semi-autonomous decision-making mobile robot is constructed. Low performance DC motor and low resolution code disk can cause inaccurate control of position and velocity in PWM way. For this reason, the event-driven dual-driving-wheel synchronization control model is established based on Petri net. Experimental results show that the velocity and position control accuracy of mobile robot is improved.
Keywords :
Petri nets; decision making; human computer interaction; mobile robots; position control; service robots; synchronisation; velocity control; DC motor; PC server subsystem; Petri net; event-driven dual-driving-wheel synchronization control model; household mobile robot system; low resolution code disk; position control; remote human-computer interactive subsystem; semi-autonomous decision-making mobile robot subsystem; velocity control; Mobile robots; Mobile Robot; Petri Net; Synchronization Control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control and Decision Conference, 2008. CCDC 2008. Chinese
Conference_Location :
Yantai, Shandong
Print_ISBN :
978-1-4244-1733-9
Electronic_ISBN :
978-1-4244-1734-6
Type :
conf
DOI :
10.1109/CCDC.2008.4597842
Filename :
4597842
Link To Document :
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