Title :
CAD/simulation for dynamic environments
Author :
Fok, H. ; Kabuka, M.R.
Author_Institution :
Dept. of Electr. & Comput. Eng., Miami Univ., Coral Gables, FL, USA
Abstract :
The architecture and working of a flexible multiple mobile robot system (MMRS) are described. The use of a path network to define allowed paths for the mobile robots is proposed. This greatly simplifies the detection of possible collisions between the robots and the problem of replanning the motion. The MMRS is divided into three main components standard pattern, central controller, and individual mobile robot. The architecture of the proposed MMRS is presented and its operation discussed in detail. Efficient control algorithms for both the central controller and individual mobile robots are developed and presented. A CAD/simulation system for the design and evaluation of the MMRS is developed. Simulation results to emphasize the validity of the system are presented
Keywords :
computerised navigation; control system CAD; digital simulation; mobile robots; CAD/simulation system; allowed paths; central controller; collision detection; control algorithms; flexible multiple mobile robot system; individual mobile robot; motion replanning; path network; standard pattern; Centralized control; Computational modeling; Design automation; Ferrites; Mobile robots; Motion detection; Navigation; Orbital robotics; Robot kinematics; Wire;
Conference_Titel :
Intelligent Control, 1990. Proceedings., 5th IEEE International Symposium on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-2108-7
DOI :
10.1109/ISIC.1990.128579
