The role of sensing in motion stability of mobile robots

Author

Tan, Jindong ; Xi, Ning ; Kang, Wei

Author_Institution

Dept. of Electr. & Comput. Eng., Michigan State Univ., East Lansing, MI, USA

fYear

1999

fDate

1999

Firstpage

62

Lastpage

67

Abstract

Generally, mobile robots are equipped with several kinds of sensors for locomotion environmental detection, etc. This paper presents a hybrid control system framework which considers a non-time based mobile robot controller and a discrete event controller combined with sensor fusion. The non-time based mobile robot controller supervised by the discrete event controller can track desired path while detecting and avoiding obstacles. This system structure has been implemented on a mobile robot. Experimental results demonstrate advantages of the proposed method

Keywords

collision avoidance; discrete event systems; mobile robots; navigation; position control; sensor fusion; tracking; discrete event control; hybrid control system; mobile robots; motion stability; nontime based control; obstacle avoidance; path tracking; sensor fusion; Automatic control; Control systems; Mobile robots; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation; Sensor fusion; Shape measurement; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Integration for Intelligent Systems, 1999. MFI '99. Proceedings. 1999 IEEE/SICE/RSJ International Conference on

Conference_Location

Taipei

Print_ISBN

0-7803-5801-5

Type

conf

DOI

10.1109/MFI.1999.815966

Filename

815966