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
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;
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
DOI :
10.1109/CCA.2010.5611221
